Method and system for protecting lifting device, driving device and storage medium

Abstract

The invention discloses a method and system for protecting a lifting device, a driving device and a storage medium. The method comprises the following steps: receiving a pulse feedback value sent by a lifting device; determining a working voltage and a voltage interval where the working voltage is located; under the condition that the working voltage is in the first voltage interval, determining a pulse threshold according to a preset curve; judging whether the pulse feedback value is greater than or equal to a pulse threshold; and when the pulse feedback value is judged to be greater than or equal to the pulse threshold value, starting a zero servo function. Under the condition that the working voltage is in the first voltage interval, the pulse threshold value is determined according to the preset curve, the possibility that the load falls can be reduced, and the safety of the lifting device and the load is improved.

Description

Technical Field

[0001] The present application relates to the technical field of safety protection of lifting devices, and in particular to a method, system, drive device and storage medium for protecting a lifting device. Background Art

[0002] When the drive device stops outputting to the motor, the brake engages and feeds back a signal to the drive device. At this time, the drive device needs to determine whether the brake has failed based on the feedback signal and the set threshold. The set threshold is usually a fixed value. However, in actual operation, the power supply voltage will fluctuate up and down. When the power supply voltage is low, the reduction in power supply voltage causes the output power of the drive device to decrease accordingly. At this time, if the brake failure is determined according to the original set threshold, the zero-speed output torque will not be able to drag the load, causing the load to fall. In addition, if the set threshold is too small, it is easy to mistakenly trigger the zero servo, causing the lifting device to be unable to continue the lifting operation. Therefore, the lifting device protection method in the prior art has the problem of low safety. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a method, system, drive device and storage medium for protecting a lifting device, so as to solve the problem of low safety of the lifting device protection method in the prior art.

[0004] In order to achieve the above-mentioned object, the first aspect of the present application provides a method for protecting a lifting device, which is applied to a driving device, and the driving device communicates with the lifting device. The method includes:

[0005] Receive the pulse feedback value sent by the lifting device;

[0006] Determine the operating voltage and the voltage range in which the operating voltage is located;

[0007] When the operating voltage is in the first voltage interval, determining the pulse threshold according to a preset curve;

[0008] Determine whether the pulse feedback value is greater than or equal to the pulse threshold;

[0009] When it is determined that the pulse feedback value is greater than or equal to the pulse threshold, the zero servo function is started.

[0010] In the embodiment of the present application, when the operating voltage is in the first voltage interval, determining the pulse threshold according to a preset curve includes:

[0011] When the operating voltage is in the first voltage interval, obtaining weight data of the load;

[0012] Determine the weight test result according to the weight data of the load;

[0013] Based on the weight detection result, the pulse threshold is determined according to the preset curve.

[0014] In the embodiment of the present application, the pulse threshold includes a first pulse threshold and a maximum pulse threshold. Based on the weight detection result, determining the pulse threshold according to the preset curve includes:

[0015] In the case where the weight detection result is a weight change result, determining the preset curve to be a first preset curve;

[0016] Based on the first preset curve, the first pulse threshold is determined according to the operating voltage, the maximum pulse threshold, the weight variation coefficient and the standard voltage.

[0017] In the embodiment of the present application, the first pulse threshold satisfies formula (1):

[0018] Pu a =M a *Pu 2 *U 2 / U 1 2 ; (1)

[0019] Among them, Pu a is the first pulse threshold, M a is the weight variation coefficient, Pu 2 is the maximum pulse threshold, U is the operating voltage, U 1 It is the standard voltage.

[0020] In the embodiment of the present application, the pulse threshold further includes a second pulse threshold, and the method further includes:

[0021] When the weight detection result is a weight unchanged result, determining the preset curve to be a second preset curve;

[0022] Based on the second preset curve, the second pulse threshold is determined according to the operating voltage, the maximum pulse threshold, the slope coefficient and the standard voltage.

[0023] In the embodiment of the present application, the second pulse threshold satisfies formula (2):

[0024] Pu b =Pu 2 -(U 1 -U) / k; (2)

[0025] Among them, Pu b is the second pulse threshold, k is the slope coefficient, Pu 2 is the maximum pulse threshold, U is the operating voltage, U 1 It is the standard voltage.

[0026] In an embodiment of the present application, the method further includes:

[0027] When the operating voltage is in the second voltage interval, determining the pulse threshold to be the maximum pulse threshold;

[0028] When the working voltage is in the third voltage interval, the working is stopped.

[0029] A second aspect of the present application provides a driving device, comprising:

[0030] a memory configured to store instructions; and

[0031] The processor is configured to call instructions from the memory and implement the above method for protecting the lifting device when executing the instructions.

[0032] A third aspect of the present application provides a system for protecting a lifting device, comprising:

[0033] a lifting device configured to lift a load;

[0034] The drive unit, in communication with the lifting device, is configured to hold the load by means of a zero servo function to protect the lifting device.

[0035] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the above-mentioned method for protecting a lifting device.

[0036] Through the above technical solution, the pulse feedback value sent by the lifting device is received, and then the working voltage and the voltage range in which the working voltage is located are determined. When the working voltage is in the first voltage range, the pulse threshold is determined according to the preset curve. Subsequently, it is determined whether the pulse feedback value is greater than or equal to the pulse threshold. Finally, when it is determined that the pulse feedback value is greater than or equal to the pulse threshold, the zero servo function is started. In the present application, when the working voltage is in the first voltage range, the pulse threshold is determined according to the preset curve, which can reduce the possibility of load falling and improve the safety of the lifting device and the load.

[0037] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0039] Figure 1 A structural diagram of a system for protecting a lifting device according to an embodiment of the present application is schematically shown;

[0040] Figure 2A flow chart of a method for protecting a lifting device according to an embodiment of the present application is schematically shown;

[0041] Figure 3 A pulse threshold curve diagram under a weight change result according to an embodiment of the present application is schematically shown;

[0042] Figure 4 A pulse threshold curve diagram under a constant weight result according to an embodiment of the present application is schematically shown;

[0043] Figure 5 A flow chart of a method for protecting a lifting device according to a specific embodiment of the present application is schematically shown;

[0044] Figure 6 The structural block diagram of a driving device according to an embodiment of the present application is schematically shown.

[0045] Description of Reference Numerals

[0046] 110 driving device 120 lifting device

[0047] 121 Brake 122 Motor

[0048] 123 Encoder DETAILED DESCRIPTION

[0049] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme 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.

[0050] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0051] 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 used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0052] Figure 1 The structure diagram of a system for protecting a lifting device according to an embodiment of the present application is schematically shown. Figure 1 As shown, the system for protecting the lifting device includes a driving device 110 and a lifting device 120. The driving device 110 communicates with the lifting device 120. Among them, the lifting device 120 includes a brake 121, a motor 122 and an encoder 123. The lifting device 120 is connected to a load (not shown in the figure) and can be used to lift the load. When the driving device 110 stops outputting to the motor 122, according to the pulse feedback value fed back by the encoder 123, the driving device 110 can determine whether the brake 121 fails, and in the case of failure of the brake 121, the load is dragged by the zero servo function to reduce the possibility of the load falling, thereby protecting the lifting device 120 and the load.

[0053] Figure 2 A flow chart of a method for protecting a lifting device according to an embodiment of the present application is schematically shown. Figure 2 As shown, an embodiment of the present application provides a method for protecting a lifting device, which is applied to a driving device, and the driving device communicates with the lifting device. The method may include the following steps:

[0054] Step 201, receiving a pulse feedback value sent by a lifting device;

[0055] Step 202: determining an operating voltage and a voltage range in which the operating voltage is located;

[0056] Step 203: when the working voltage is in the first voltage interval, determining the pulse threshold according to a preset curve;

[0057] Step 204, determining whether the pulse feedback value is greater than or equal to the pulse threshold;

[0058] Step 205: When it is determined that the pulse feedback value is greater than or equal to the pulse threshold, the zero servo function is started.

[0059] In an embodiment of the present application, the driving device can determine whether to start the zero servo function based on the pulse feedback value and the pulse threshold value to protect the lifting device and the load. The lifting device includes a motor, a brake and an encoder. When the driving device stops outputting to the motor, the brake is engaged, and at this time, the encoder can send a pulse feedback value to the driving device. At the same time, the driving device can determine the current working voltage of the driving device and the voltage range in which the working voltage is located. The voltage range includes a first voltage range, a second voltage range and a third voltage range. Among them, the first voltage range refers to a voltage range that is less than the standard voltage and greater than or equal to the minimum voltage, the second voltage range refers to a voltage range that is greater than or equal to the standard voltage, and the third voltage range refers to a voltage range that is less than the minimum voltage. The standard voltage refers to the normal working voltage of the driving device. The minimum voltage refers to the lowest voltage required for the driving device to work.

[0060] The longer the free fall time of the load, the greater the angle of the motor rotation, and the greater the pulse feedback value of the encoder. The size of the pulse threshold can determine the free fall time t of the load, and then determine the final speed v of the free fall of the load and the instantaneous power P of gravity work at the end of the free fall time t of the load. When the working voltage is reduced, the output power of the drive device is also reduced accordingly. If the drive device needs to drag the load through the zero servo function, the instantaneous power P of gravity work at the end of the free fall time of the load must be less than the output power of the drive device when the zero servo function is started. Therefore, when the working voltage of the drive device is in the first voltage interval, the free fall time t of the load should be shortened, that is, the pulse threshold set by the drive device should be reduced.

[0061] Thus, when the operating voltage is in the first voltage interval, the drive device can obtain the weight data of the load and determine the weight detection result based on the weight data of the load. The weight detection result includes a weight change result and a weight unchanged result. The weight change result refers to the detection result of the change in the weight data of the load. The weight unchanged result refers to the detection result that the weight data of the load remains unchanged. Based on the weight detection result, the drive device can determine the pulse threshold based on a preset curve. Further, the drive device can determine whether the pulse feedback value is greater than or equal to the pulse threshold. In the case of determining that the pulse feedback value is greater than or equal to the pulse threshold, the drive device starts the zero servo function. In the case of determining that the pulse feedback value is less than the pulse threshold, the drive device can determine that the brake is working normally, the load has not fallen, and there is no need to start the zero servo function.

[0062] Through the above technical solution, the pulse feedback value sent by the lifting device is received, and then the working voltage and the voltage range in which the working voltage is located are determined. When the working voltage is in the first voltage range, the pulse threshold is determined according to the preset curve. Subsequently, it is determined whether the pulse feedback value is greater than or equal to the pulse threshold. Finally, when it is determined that the pulse feedback value is greater than or equal to the pulse threshold, the zero servo function is started. In the present application, when the working voltage is in the first voltage range, the pulse threshold is determined according to the preset curve, which can reduce the possibility of load falling and improve the safety of the lifting device and the load.

[0063] In the embodiment of the present application, step 203, when the operating voltage is in the first voltage interval, determining the pulse threshold according to a preset curve, may include:

[0064] When the operating voltage is in the first voltage interval, obtaining weight data of the load;

[0065] Determine the weight test result according to the weight data of the load;

[0066] Based on the weight detection result, the pulse threshold is determined according to the preset curve.

[0067] In an embodiment of the present application, the drive device can determine the pulse threshold according to a preset curve when the operating voltage is in the first voltage interval. When the operating voltage is in the first voltage interval, the drive device can obtain the weight data of the load and determine the weight detection result according to the weight data of the load. The weight detection result includes a weight change result and a weight unchanged result. The weight change result refers to the detection result of the change of the weight data of the load. The weight unchanged result refers to the detection result that the weight data of the load remains unchanged. Based on the weight detection result, the drive device can determine the pulse threshold according to the preset curve. In this way, the drive device can determine the pulse threshold when the operating voltage is in the first voltage interval.

[0068] Figure 3 The pulse threshold curve diagram under a weight change result according to an embodiment of the present application is schematically shown. Figure 3 As shown, in the embodiment of the present application, the pulse threshold may include a first pulse threshold Pu a and the maximum pulse threshold Pu 2 , based on the weight detection result, determining the pulse threshold according to the preset curve may include:

[0069] When the weight detection result is a weight change result, determining the preset curve to be a first preset curve;

[0070] Based on the first preset curve, according to the working voltage U, the maximum pulse threshold Pu 2 , weight variation coefficient and standard voltage U 1Determine the first pulse threshold Pu a .

[0071] In an embodiment of the present application, when the operating voltage is in the first voltage interval, the driving device can obtain the weight data of the load and determine the weight detection result according to the weight data of the load. The weight detection result includes a weight change result and a weight unchanged result. The weight change result refers to the detection result of the change of the weight data of the load. When the weight detection result is a weight change result, the driving device can determine that the preset curve is the first preset curve. The pulse threshold can include a first pulse threshold Pu a and the maximum pulse threshold Pu 2 The first pulse threshold Pu a Refers to the pulse threshold when the load weight data changes. Maximum pulse threshold Pu 2 To ensure the safety of the lifting device and the load, the driving device can be based on the first preset curve, according to the working voltage U, the maximum pulse threshold Pu 2 , weight variation coefficient and standard voltage U 1 Determine the first pulse threshold Pu a The weight variation coefficient satisfies formula (3):

[0072]

[0073] Among them, M a is the weight variation coefficient, 0.5≤M a <1,M max is the maximum load weight, M is the variable weight, 0 <M≤M max .

[0074] It should be noted that the first preset curve is not limited to a certain curve, and can be adjusted according to actual conditions during application. In this way, the driving device can determine the pulse threshold when the weight data of the load changes.

[0075] In the embodiment of the present application, the first pulse threshold Pu a It can satisfy formula (1):

[0076] Pu a =M a *Pu 2 *U 2 / U 1 2 ; (1)

[0077] Among them, Pu a is the first pulse threshold, M a is the weight variation coefficient, Pu 2 is the maximum pulse threshold, U is the operating voltage, U1 It is the standard voltage.

[0078] In the embodiment of the present application, the pulse threshold may include a first pulse threshold Pu a and the maximum pulse threshold Pu 2 . Maximum pulse threshold Pu 2 To ensure the safety of the lifting device and the load, the driving device can be based on the first preset curve, according to the working voltage U, the maximum pulse threshold Pu 2 , weight variation coefficient and standard voltage U 1 Determine the first pulse threshold Pu a In this way, the drive device can determine the pulse threshold when the weight data of the load changes.

[0079] Figure 4 The pulse threshold curve diagram under a weight-invariant result according to an embodiment of the present application is schematically shown. Figure 4 As shown, in the embodiment of the present application, the pulse threshold may also include a second pulse threshold Pu b , the method may further include:

[0080] When the weight detection result is a weight unchanged result, determining the preset curve to be a second preset curve;

[0081] Based on the second preset curve, according to the working voltage U, the maximum pulse threshold pu 2 , slope coefficient and standard voltage U 1 Determine the second pulse threshold Pu b .

[0082] In an embodiment of the present application, when the operating voltage is in the first voltage interval, the driving device can obtain the weight data of the load and determine the weight detection result according to the weight data of the load. The weight detection result includes a weight change result and a weight unchanged result. The weight unchanged result refers to the detection result that the weight data of the load remains unchanged. When the weight detection result is a weight unchanged result, the driving device can determine that the preset curve is a second preset curve. The pulse threshold also includes a second pulse threshold Pu b The second pulse threshold Pu b It refers to the pulse threshold when the weight data of the load remains unchanged. The drive device can be based on the second preset curve according to the working voltage U, the maximum pulse threshold Pu 2 , slope coefficient k and standard voltage U 1 Determine the second pulse threshold Pu b The slope coefficient satisfies formula (4):

[0083] k=(U 1 -U 2 ) / (Pu2 -Pu 1 ); (4)

[0084] Where k is the slope coefficient, U 1 is the standard voltage, U 2 is the lowest voltage, Pu 2 is the maximum pulse threshold, Pu 1 is the minimum pulse threshold.

[0085] It should be noted that the second preset curve is not limited to a certain curve, and can be adjusted according to actual conditions during application. In this way, the driving device can determine the pulse threshold when the weight data of the load remains unchanged.

[0086] In the embodiment of the present application, the second pulse threshold Pu b It can satisfy formula (2):

[0087] Pu b =Pu 2 -(U 1 -U) / k; (2)

[0088] Among them, Pu b is the second pulse threshold, k is the slope coefficient, Pu 2 is the maximum pulse threshold, U is the operating voltage, U 1 It is the standard voltage.

[0089] In the embodiment of the present application, the pulse threshold may also include a second pulse threshold Pu b The drive device can be based on the second preset curve, according to the working voltage U, the maximum pulse threshold Pu 2 , slope coefficient k and standard voltage U 1 Determine the second pulse threshold Pu b In this way, the drive device can determine the pulse threshold value when the weight data of the load remains unchanged.

[0090] In an embodiment of the present application, the method may further include:

[0091] When the operating voltage is in the second voltage interval, determining the pulse threshold to be the maximum pulse threshold;

[0092] When the working voltage is in the third voltage interval, the working is stopped.

[0093] In an embodiment of the present application, the voltage interval includes a first voltage interval, a second voltage interval and a third voltage interval. Among them, the first voltage interval refers to a voltage interval that is less than the standard voltage and greater than or equal to the minimum voltage, the second voltage interval refers to a voltage interval that is greater than or equal to the standard voltage, and the third voltage interval refers to a voltage interval that is less than the minimum voltage. When the operating voltage is in the second voltage interval, the drive device can determine that the pulse threshold is the maximum pulse threshold. When the operating voltage is in the third voltage interval, the drive device cannot work.

[0094] Figure 5 A flowchart of a method for protecting a lifting device according to a specific embodiment of the present application is schematically shown. Figure 5 As shown, in a specific embodiment of the present application, the method for protecting the lifting device includes:

[0095] S1. Determine whether the working voltage U is greater than or equal to the standard voltage U 1 If yes, go to S3, if no, go to S2;

[0096] S2. Determine whether the working voltage U is greater than or equal to the minimum voltage U 2 If yes, go to S4, if no, go to S6;

[0097] S3, determining the pulse threshold to be the maximum pulse threshold;

[0098] S4, adjust the pulse threshold according to the preset curve;

[0099] S5, prepare zero servo function;

[0100] S6. The drive device cannot work.

[0101] In a specific embodiment of the present application, the driving device can determine whether the working voltage U is greater than or equal to the standard voltage U 1 If the working voltage U is greater than or equal to the standard voltage U 1 , the drive device can determine the pulse threshold as the maximum pulse threshold and then prepare for the zero servo function. 1 The drive device can further determine whether the operating voltage U is greater than or equal to the minimum voltage U 2 If the operating voltage U is greater than or equal to the minimum voltage U 2 , the drive can adjust the pulse threshold according to the preset curve and then prepare for the zero servo function. 2 , the drive device cannot work. In this way, the possibility of load falling can be reduced and the safety of the lifting device and load can be improved.

[0102] Figure 6The structure block diagram of a driving device according to an embodiment of the present application is schematically shown. Figure 6 As shown, an embodiment of the present application provides a driving device, which may include:

[0103] Memory 610, configured to store instructions; and

[0104] The processor 620 is configured to call instructions from the memory 610 and implement the above-mentioned method for protecting the lifting device when executing the instructions.

[0105] Specifically, in the embodiment of the present application, the processor 620 may be configured to:

[0106] Receive the pulse feedback value sent by the lifting device;

[0107] Determine the operating voltage and the voltage range in which the operating voltage is located;

[0108] When the operating voltage is in the first voltage interval, determining the pulse threshold according to a preset curve;

[0109] Determine whether the pulse feedback value is greater than or equal to the pulse threshold;

[0110] When it is determined that the pulse feedback value is greater than or equal to the pulse threshold, the zero servo function is started.

[0111] Furthermore, the processor 620 may be further configured to:

[0112] When the operating voltage is in the first voltage interval, obtaining weight data of the load;

[0113] Determine the weight test result according to the weight data of the load;

[0114] Based on the weight detection result, the pulse threshold is determined according to the preset curve.

[0115] Furthermore, the processor 620 may be further configured to:

[0116] In the case where the weight detection result is a weight change result, determining the preset curve to be a first preset curve;

[0117] Based on the first preset curve, the first pulse threshold is determined according to the operating voltage, the maximum pulse threshold, the weight variation coefficient and the standard voltage.

[0118] In the embodiment of the present application, the first pulse threshold satisfies formula (1):

[0119] Pu a =M a *Pu 2 *U 2 / U 12 ; (1)

[0120] Among them, Pu a is the first pulse threshold, M a is the weight variation coefficient, Pu 2 is the maximum pulse threshold, U is the operating voltage, U 1 It is the standard voltage.

[0121] Furthermore, the processor 620 may be further configured to:

[0122] When the weight detection result is a weight unchanged result, determining the preset curve to be a second preset curve;

[0123] Based on the second preset curve, the second pulse threshold is determined according to the operating voltage, the maximum pulse threshold, the slope coefficient and the standard voltage.

[0124] In the embodiment of the present application, the second pulse threshold satisfies formula (2):

[0125] Pu b =Pu 2 -(U 1 -U) / k; (2)

[0126] Among them, Pu v is the second pulse threshold, k is the slope coefficient, Pu 2 is the maximum pulse threshold, U is the operating voltage, U 1 It is the standard voltage.

[0127] Furthermore, the processor 620 may be further configured to:

[0128] When the operating voltage is in the second voltage interval, determining the pulse threshold to be the maximum pulse threshold;

[0129] When the working voltage is in the third voltage interval, the working is stopped.

[0130] Through the above technical solution, the pulse feedback value sent by the lifting device is received, and then the working voltage and the voltage range in which the working voltage is located are determined. When the working voltage is in the first voltage range, the pulse threshold is determined according to the preset curve. Subsequently, it is determined whether the pulse feedback value is greater than or equal to the pulse threshold. Finally, when it is determined that the pulse feedback value is greater than or equal to the pulse threshold, the zero servo function is started. In the present application, when the working voltage is in the first voltage range, the pulse threshold is determined according to the preset curve, which can reduce the possibility of load falling and improve the safety of the lifting device and the load.

[0131] like Figure 1 As shown, the embodiment of the present application also provides a system for protecting a lifting device, comprising:

[0132] The driving device 110 communicates with the lifting device 120 and is configured to drag the load through a zero servo function to protect the lifting device 120;

[0133] The lifting device 120 is configured to lift a load.

[0134] In an embodiment of the present application, a system for protecting a lifting device includes a driving device 110 and a lifting device 120. The driving device 110 communicates with the lifting device 120. The lifting device 120 is connected to a load and can lift the load. The lifting device 120 includes a brake 121, a motor 122, and an encoder 123. When the driving device 110 stops outputting to the motor 122, the driving device 110 can determine whether the brake 121 fails based on the pulse feedback value fed back by the encoder 123, and in the case of failure of the brake 121, the load is dragged by the zero servo function to reduce the possibility of the load falling, thereby protecting the lifting device 120 and the load.

[0135] An embodiment of the present application also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned method for protecting a lifting device.

[0136] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may 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 may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0137] 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 generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. 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.

[0138] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate 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 A function specified in one or more boxes.

[0139] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0140] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0141] 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.

[0142] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. 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 technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0143] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0144] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for protecting a lifting device, characterized in that: Applied to a drive device, the drive device communicating with a lifting device, the method comprising: receiving a pulse feedback value sent by the lifting device; Determining an operating voltage and a voltage range within which the operating voltage lies; When the operating voltage is in the first voltage interval, determining the pulse threshold according to a preset curve; Determining whether the pulse feedback value is greater than or equal to the pulse threshold; When it is determined that the pulse feedback value is greater than or equal to the pulse threshold, a zero servo function is started.

2. The method according to claim 1, characterized in that When the operating voltage is in the first voltage interval, determining the pulse threshold according to a preset curve includes: When the operating voltage is in the first voltage interval, obtaining weight data of the load; determining a weight detection result according to the weight data of the load; Based on the weight detection result, a pulse threshold is determined according to a preset curve.

3. The method according to claim 2, characterized in that The pulse threshold includes a first pulse threshold and a maximum pulse threshold, and the determining of the pulse threshold according to a preset curve based on the weight detection result includes: In a case where the weight detection result is a weight change result, determining that the preset curve is a first preset curve; Based on the first preset curve, the first pulse threshold is determined according to the operating voltage, the maximum pulse threshold, the weight variation coefficient and the standard voltage.

4. The method according to claim 3, characterized in that The first pulse threshold satisfies formula (1): Pu a =M a *Pu2*U 2 / U1 2 (1) Among them, Pu a is the first pulse threshold, M a is the weight variation coefficient, Pu2 is the maximum pulse threshold, U is the operating voltage, and U1 is the standard voltage.

5. The method according to claim 3, characterized in that: The pulse threshold further includes a second pulse threshold, and the method further includes: When the weight detection result is a weight unchanged result, determining the preset curve to be a second preset curve; Based on the second preset curve, the second pulse threshold is determined according to the operating voltage, the maximum pulse threshold, a slope coefficient and the standard voltage.

6. The method according to claim 5, characterized in that The second pulse threshold satisfies formula (2): Pu b =Pu2-(U1-U) / k; (2) Among them, Pu b is the second pulse threshold, k is the slope coefficient, Pu2 is the maximum pulse threshold, U is the operating voltage, and U1 is the standard voltage.

7. The method according to claim 1, characterized in that The method further comprises: When the operating voltage is in the second voltage interval, determining the pulse threshold to be a maximum pulse threshold; When the working voltage is in the third voltage interval, the working is stopped.

8. A driving 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 method for protecting a lifting device according to any one of claims 1 to 7 when executing the instructions.

9. A system for protecting a lifting device, characterized in that: include: a lifting device configured to lift a load; The drive device of claim 8, in communication with the lifting device, and configured to hold the load by a zero servo function to protect the lifting device.

10. 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 method for protecting a lifting device according to any one of claims 1 to 7.

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