Electromagnetic lifting appliance lifting control method and device

Abstract

The invention provides a lifting control method and device for an electromagnetic lifting appliance, and belongs to the field of lifting control, and the method comprises the steps that the coefficient of a first lifting control algorithm is adjusted based on target information, the first lifting control algorithm is used for controlling the magnetic force of the electromagnetic lifting appliance, and the target information comprises working information and environment information of the electromagnetic lifting appliance; adjusting a coefficient of a second lifting control algorithm based on the target information, wherein the second lifting control algorithm is used for controlling the speed of the electromagnetic lifting appliance; and controlling the electromagnetic lifting appliance to lift based on the first lifting control algorithm and the second lifting control algorithm. According to the lifting control method and device for the electromagnetic lifting appliance, the accuracy and reliability of lifting control of the electromagnetic lifting appliance can be improved.

Description

Technical Field

[0001] The present invention belongs to the field of lifting control, and more specifically, relates to a lifting control method and device for an electromagnetic sling. Background Art

[0002] For ferromagnetic materials, electromagnetic spreaders can quickly absorb the goods, and compared with traditional mechanical clamps, there is no need for complicated clamping operations. Electromagnetic spreaders can flexibly adapt to ferromagnetic goods of various shapes and sizes, and can effectively perform lifting operations. When lifting mixed goods or ferromagnetic materials of different specifications, there is no need to frequently change lifting tools, which further improves lifting efficiency.

[0003] Today's electromagnetic spreader controls usually only consider the weight of the cargo and the environment, resulting in inaccurate control and low safety during the lifting process of the electromagnetic spreader.

[0004] It can be seen that there is an urgent need for an accurate and reliable electromagnetic spreader lifting control method. Summary of the invention

[0005] The purpose of the present disclosure is to provide a method and device for controlling the lifting of an electromagnetic spreader, so as to improve the lifting accuracy and reliability of the electromagnetic spreader.

[0006] A first aspect of the embodiments of the present disclosure provides a method for controlling the lifting of an electromagnetic sling, comprising: adjusting coefficients of a first lifting control algorithm based on target information, the first lifting control algorithm being used to control the magnetic force of the electromagnetic lifter, the target information including working information and environmental information of the electromagnetic lifter; adjusting coefficients of a second hoisting control algorithm based on the target information, the second hoisting control algorithm being used to control the speed of the electromagnetic spreader; The electromagnetic lifter is controlled to perform lifting based on the first lifting control algorithm and the second lifting control algorithm.

[0007] A second aspect of the embodiments of the present disclosure provides a lifting control device for an electromagnetic sling, comprising: a magnetic force adjustment module, configured to adjust coefficients of a first lifting control algorithm based on target information, wherein the first lifting control algorithm is configured to control the magnetic force of the electromagnetic lifter, and the target information includes working information and environmental information of the electromagnetic lifter; a speed adjustment module, configured to adjust a coefficient of a second lifting control algorithm based on target information, wherein the second lifting control algorithm is configured to control a speed of the electromagnetic spreader; A lifting control module is used to control the electromagnetic lifting device to perform lifting based on the first lifting control algorithm and the second lifting control algorithm.

[0008] According to a third aspect of an embodiment of the present disclosure, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor implements the steps of the above-mentioned electromagnetic hoisting control method when executing the computer program.

[0009] According to a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned electromagnetic hoisting control method are implemented.

[0010] The beneficial effects of the electromagnetic hoisting control method and device provided by the embodiments of the present disclosure are: The present invention ensures stable adsorption and smooth movement of objects during lifting operations by adjusting the magnetic force and speed in real time, reducing the risk of accidental falling off or collision. The present invention reduces unnecessary waiting time and energy consumption by optimizing the lifting speed and magnetic force distribution, thereby improving overall operating efficiency. The present invention can flexibly respond to different working environments and task requirements, and demonstrates strong adaptability and reliability. The electromagnetic hoisting control method achieves precise control of magnetic force and speed through an intelligent algorithm adjustment mechanism, providing a safer, more efficient and more flexible solution for lifting operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0012] Figure 1 A schematic flow chart of a method for controlling the lifting of an electromagnetic sling provided in one embodiment of the present disclosure; Figure 2 A structural block diagram of an electromagnetic hoisting control device provided by an embodiment of the present disclosure; Figure 3 A schematic block diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0013] In the following description, specific details such as specific system structures and technologies are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present disclosure. However, it should be clear to those skilled in the art that the present disclosure may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obstructing the description of the present disclosure with unnecessary details.

[0014] In order to make the purpose, technical solutions and advantages of the present disclosure more clear, specific embodiments will be described below in conjunction with the accompanying drawings.

[0015] Please refer to Figure 1 , Figure 1 A schematic flow chart of a method for controlling the lifting of an electromagnetic sling provided in one embodiment of the present disclosure, the method comprising: S101: adjusting coefficients of a first lifting control algorithm based on target information, the first lifting control algorithm being used to control the magnetic force of an electromagnetic lifter, the target information including working information and environmental information of the electromagnetic lifter.

[0016] In this embodiment, the target information may be the working information and environmental information of the electromagnetic lifter. The working information may be the magnetic force, speed and working time of the electromagnetic lifter. The environmental information may be the ambient temperature, ambient humidity and ambient wind speed of the environment in which the electromagnetic lifter is located. The magnetic force of the electromagnetic lifter may be obtained according to the magnetic sensor, the speed of the electromagnetic lifter may be obtained according to the speed sensor, the working time of the electromagnetic lifter may be obtained according to the timer, the ambient temperature may be obtained according to the temperature sensor, the ambient humidity may be obtained according to the humidity sensor, and the ambient wind speed may be obtained according to the wind speed sensor.

[0017] The first lifting control algorithm may be a PID algorithm, and the coefficients of the first control algorithm may be a first magnetic coefficient, a first environmental coefficient and a first working time coefficient. The first magnetic coefficient may be controlled according to the magnetic force of the electromagnetic lifter, the first environmental coefficient may be controlled according to the ambient temperature, ambient humidity and ambient wind speed of the electromagnetic lifter, and the first working time coefficient may be controlled according to the working time of the electromagnetic lifter.

[0018] For example, when the magnetic force of the electromagnetic lifter is less than the first magnetic force threshold, the first magnetic force coefficient is controlled to increase with the first magnetic force step; when the magnetic force of the electromagnetic lifter is less than the second magnetic force threshold, the first magnetic force coefficient is controlled to increase with the second magnetic force step; when the ambient temperature of the electromagnetic lifter is greater than the first temperature threshold, the first environmental coefficient is controlled to increase according to the first temperature step; when the ambient humidity of the electromagnetic lifter is greater than the first humidity threshold, the first environmental coefficient is controlled to increase according to the first humidity step; when the ambient wind speed of the electromagnetic lifter is greater than the first wind speed threshold, the first environmental coefficient is controlled to increase according to the first wind speed step; when the working time of the electromagnetic lifter is greater than the first working time threshold, the first working time coefficient is controlled to increase according to the first working time step.

[0019] S102: Adjusting coefficients of a second lifting control algorithm based on the target information, where the second lifting control algorithm is used to control the speed of the electromagnetic spreader.

[0020] In this embodiment, the second lifting control algorithm can be a PID algorithm, and the coefficients of the second lifting control algorithm can be a first speed coefficient, a second environmental coefficient and a second working time coefficient. The first speed coefficient can be controlled according to the speed of the electromagnetic lifter, the first environmental coefficient can be controlled according to the ambient temperature, ambient humidity and ambient wind speed of the electromagnetic lifter, and the first working time coefficient can be controlled according to the working time of the electromagnetic lifter.

[0021] For example, when the speed of the electromagnetic lifter is less than the first speed threshold, the first speed coefficient is controlled to increase with a first speed step; when the speed of the electromagnetic lifter is less than the second speed threshold, the first speed coefficient is controlled to increase with a second speed step; when the ambient temperature of the electromagnetic lifter is greater than the second temperature threshold, the second ambient coefficient is controlled to increase according to the second temperature step; when the ambient humidity of the electromagnetic lifter is greater than the second humidity threshold, the first ambient coefficient is controlled to increase according to the second humidity step; when the ambient wind speed of the electromagnetic lifter is greater than the second wind speed threshold, the first ambient coefficient is controlled to increase according to the second wind speed step; when the working time of the electromagnetic lifter is greater than the second working time threshold, the second working time coefficient is controlled to increase according to the second working time step.

[0022] S103: Controlling the electromagnetic lifting device to perform lifting based on the first lifting control algorithm and the second lifting control algorithm.

[0023] In this embodiment, the first lifting control algorithm may be a PID algorithm for controlling the magnetic force of the electromagnetic lifter, and the second lifting control algorithm may be a PID algorithm for controlling the speed of the electromagnetic lifter. The electromagnetic lifter may be controlled by controlling the magnetic force of the electromagnetic lifter according to the first lifting control algorithm and controlling the speed of the electromagnetic lifter according to the second lifting control algorithm.

[0024] From the above, it can be concluded that the present disclosure ensures stable adsorption and smooth movement of objects during lifting operations by adjusting the magnetic force and speed in real time, thereby reducing the risk of accidental falling off or collision. The present disclosure reduces unnecessary waiting time and energy consumption by optimizing the lifting speed and magnetic force distribution, thereby improving overall operating efficiency. The present disclosure can flexibly respond to different working environments and task requirements, and demonstrates strong adaptability and reliability. The electromagnetic sling lifting control method achieves precise control of magnetic force and speed through an intelligent algorithm adjustment mechanism, providing a safer, more efficient and more flexible solution for lifting operations.

[0025] In one embodiment of the present disclosure, the working information includes the magnetic force of the electromagnetic lifter, the speed of the electromagnetic lifter, and the working time of the electromagnetic lifter; The environmental information includes the ambient temperature, ambient humidity and ambient wind speed of the environment in which the electromagnetic lifter is located.

[0026] In one embodiment of the present disclosure, the coefficients of the first lifting control algorithm include: a first magnetic coefficient, a first environmental coefficient and a first working time coefficient.

[0027] In one embodiment of the present disclosure, adjusting the coefficients of the first lifting control algorithm based on the target information includes: adjusting a first magnetic coefficient based on a magnetic force of the electromagnetic hanger; adjusting a first environmental coefficient based on the environmental information; Adjust the first working hours factor based on the working hours.

[0028] In this embodiment, the working information includes the magnetic force of the electromagnetic lifter, the speed of the electromagnetic lifter and the working time of the electromagnetic lifter; the environmental information includes the ambient temperature, ambient humidity and ambient wind speed of the environment where the electromagnetic lifter is located.

[0029] The first lifting control algorithm may be a PID algorithm, the first magnetic force coefficient is a rough adjustment coefficient of the magnetic force, the first environmental coefficient is a fine adjustment coefficient of the magnetic force, and the first working time coefficient is a pre-adjustment coefficient of the magnetic force.

[0030] In response to the difference between the magnetic force of the electromagnetic hanger and the reference magnetic force being greater than a first magnetic force threshold, adjusting the first magnetic force coefficient according to a first exponential formula; In response to a difference between the magnetic force of the electromagnetic hanger and the reference magnetic force being greater than a second magnetic force threshold, adjusting the first magnetic force coefficient according to a first magnetic force step size; In response to the difference between the magnetic force of the electromagnetic hanger and the reference magnetic force being less than a third magnetic force threshold, adjusting the first magnetic force coefficient according to a second magnetic force step size; In response to the difference between the magnetic force of the electromagnetic hanger and the reference magnetic force being greater than a fourth magnetic force threshold, adjusting the first magnetic force coefficient according to a second exponential formula; The difference has positive and negative signs, the first magnetic threshold and the second magnetic threshold are both positive numbers, the first magnetic threshold is greater than the second magnetic threshold, the third magnetic threshold and the fourth magnetic threshold are both negative numbers, and the third magnetic threshold is greater than the fourth magnetic threshold. The base of the first exponential formula is less than the base of the second exponential formula, the first magnetic step is less than the second magnetic step, the reference magnetic force is determined based on the weight information of the goods, the reference magnetic force can be greater than the first multiple of the weight information of the goods, the first multiple can be manually set based on experience, and the weight information of the goods can be obtained by scanning the identity code of the goods.

[0031] In response to the weight information of the cargo being greater than a first weight threshold, the base of the second exponential formula is adjusted according to a first weight step.

[0032] In response to a difference between an ambient temperature of the electromagnetic hanger and a reference temperature being greater than a first temperature threshold, adjusting a first ambient coefficient according to a first temperature step; In response to a difference between the ambient temperature of the electromagnetic sling and the reference temperature being less than a second temperature threshold, adjusting the first environmental coefficient according to a second temperature step; The difference has positive and negative signs, the first temperature threshold is a positive value, the second temperature threshold is a negative value, the first temperature step may be equal to the second temperature step, and the reference temperature may be artificially set based on experience.

[0033] In response to a difference between the ambient humidity of the electromagnetic hanger and the reference humidity being greater than a first humidity threshold, adjusting the first ambient coefficient according to a first humidity step; The difference has positive and negative signs, the first humidity threshold is a positive value, and the reference humidity can be set manually based on experience.

[0034] In response to a difference between an ambient wind speed of the electromagnetic spreader and a reference wind speed being greater than a first wind speed threshold, adjusting a first ambient coefficient according to a first wind speed step; In response to a difference between the ambient wind speed of the electromagnetic spreader and the reference wind speed being greater than a second wind speed threshold, adjusting the first ambient coefficient according to a second wind speed step; The difference has positive and negative signs, the first wind speed threshold and the second wind speed threshold are both positive values, the first wind speed threshold is smaller than the second wind speed threshold, the first wind speed step is smaller than the second wind speed step, and the reference wind speed can be manually set based on experience.

[0035] The difference between the working time of the response and the electromagnetic lifter and the reference working time is greater than the first working time threshold, and the first working time coefficient is adjusted according to the first linear formula; The difference between the working time of the response and the reference working time of the electromagnetic lifter is greater than the second working time threshold, and the first working time coefficient is adjusted according to the second linear formula; Among them, the difference has positive and negative signs, the first working hour threshold and the second working hour threshold are both positive values, the first working hour threshold is smaller than the second working hour threshold, the slope of the first linear formula is smaller than the slope of the second linear formula, and the reference working time can be set artificially based on experience.

[0036] For example, the first exponential formula could be ,in, is the adjustment value, is the first index, is the magnetic force of the electromagnetic lifter, the second exponential formula can be ,in, is the adjustment value, is the second index, is the magnetic force of the electromagnetic spreader. Considering that when the magnetic force is greater than the reference value (i.e., greater than the first magnetic force threshold), the goods will be damaged, so the first exponential function can be used to adjust the magnetic force of the electromagnetic spreader more quickly, and when the magnetic force is less than the reference value (i.e., less than the fourth magnetic force threshold), the magnetic force of the electromagnetic spreader is not enough to support the lifting, so the second exponential function can be used to adjust the magnetic force of the electromagnetic spreader more quickly. At the same time, the loss caused by the damage to the appearance of the goods is smaller than the loss caused by the falling of the goods, so the first base of the first exponential function is smaller than the second base of the second exponential function.

[0037] Considering that when the magnetic force is less than the reference value (that is, greater than the second magnetic threshold), the magnetic force is close to the reference magnetic force at this time. If the first exponential function is continued to be used for adjustment, overshoot will occur. Therefore, the first magnetic coefficient is adjusted using the first magnetic step. Similarly, considering that when the magnetic force is less than the reference value (that is, less than the third magnetic threshold), the magnetic force is close to the reference magnetic force at this time. If the second exponential function is continued to be used for adjustment, overshoot will occur. Therefore, the second magnetic step is used to adjust the first magnetic coefficient.

[0038] Considering that when the weight of the goods is heavier (i.e. greater than the first weight threshold), the inertia of the goods is larger, it is difficult to reliably adsorb the goods if the original second exponential function is still used for control and adjustment, so the base of the second exponential function is adjusted according to the first weight step.

[0039] Taking into account the influence of temperature on magnetic force, when the difference between the ambient temperature of the electromagnetic lifter and the reference temperature is greater than the first temperature threshold, the first environmental coefficient is adjusted according to the first temperature step; when the difference between the ambient temperature of the electromagnetic lifter and the reference temperature is less than the second temperature threshold, the first environmental coefficient is adjusted according to the second temperature step. Since both high and low temperatures will lead to a decrease in magnetic force, the first temperature step and the second temperature step can be equal. The first temperature step and the second temperature step are artificially set based on experience.

[0040] Considering the influence of humidity on magnetic force, when the difference between the ambient humidity of the electromagnetic hanger and the reference humidity is greater than the first humidity threshold, the first environmental coefficient is adjusted according to the first humidity step; the first humidity step may be manually set based on experience.

[0041] Taking into account the influence of wind speed on magnetic force, when the difference between the ambient wind speed of the electromagnetic lifter and the reference wind speed is greater than the first wind speed threshold, the first environmental coefficient is adjusted according to the first wind speed step; when the difference between the ambient wind speed of the electromagnetic lifter and the reference wind speed is greater than the second wind speed threshold, the first environmental coefficient is adjusted according to the second wind speed step. Since wind speed can cause the cargo to shift and increase the resistance to lifting, and the greater the wind speed, the greater the resistance and the greater the magnetic force required, the first wind speed step is smaller than the second wind speed step. The first and second wind speed steps are set artificially based on experience.

[0042] Taking into account the influence of working time on magnetic force, when the difference between the working time of the electromagnetic lifter and the reference working time is greater than the first working time threshold, the first working time coefficient is adjusted according to the first linear formula; when the difference between the working time of the electromagnetic lifter and the reference working time is greater than the second working time threshold, the first working time coefficient is adjusted according to the second linear formula.

[0043] The first linear formula can be ,in, To adjust the value, is the first slope, is the working time; the second linear formula can be ,in, To adjust the value, is the second slope, For working hours.

[0044] The accumulation of working time will cause hysteresis loss, which will cause the iron core to heat up. As time goes by, this loss will gradually affect the magnetic properties of the iron core and weaken the magnetic force. As the working time increases, the hysteresis loss becomes more obvious. Therefore, the slope of the first linear formula is smaller than the slope of the second linear formula. The slopes of the first linear formula and the second linear formula are set artificially based on experience.

[0045] From the above, it can be concluded that the present invention obtains working information such as the magnetic force and working time of the electromagnetic spreader, as well as environmental information such as ambient temperature, ambient humidity and ambient wind speed in real time, and performs fine control based on the difference between the corresponding reference values. This real-time feedback mechanism enables the control algorithm to be adjusted in time, thereby ensuring that the electromagnetic spreader operates in the best state, avoiding cargo falling or equipment damage due to insufficient or excessive magnetic force, and significantly improving the safety and reliability of the operation; the present invention adjusts the base of the exponential function according to the weight of the cargo, which can be better adjusted, thereby improving the precision and reliability of the lifting control of the electromagnetic spreader.

[0046] In one embodiment of the present disclosure, the coefficients of the second lifting control algorithm include: a first speed coefficient, a second environment coefficient and a second working time coefficient.

[0047] In one embodiment of the present disclosure, adjusting the coefficients of the second lifting control algorithm based on the target information includes: adjusting a first speed coefficient based on a speed of the electromagnetic spreader; adjusting a second environmental coefficient based on the environmental information; Adjust the second working hours factor based on the working hours.

[0048] In this embodiment, the environmental information includes the ambient temperature, ambient humidity and ambient wind speed of the environment in which the electromagnetic hanger is located.

[0049] The second lifting control algorithm may be a PID algorithm, the first speed coefficient is a rough adjustment coefficient of the speed, the second environment coefficient is a fine adjustment coefficient of the speed, and the second working time coefficient is a pre-adjustment coefficient of the speed.

[0050] In response to the difference between the speed of the electromagnetic spreader and the reference speed being greater than a first speed threshold, the first speed coefficient is adjusted according to a third exponential formula; In response to a difference between the speed of the electromagnetic spreader and the reference speed being greater than a second speed threshold, adjusting the first speed coefficient according to the first speed step; In response to a difference between the speed of the electromagnetic spreader and the reference speed being less than a third speed threshold, adjusting the first speed coefficient according to the second speed step; In response to the difference between the speed of the electromagnetic spreader and the reference speed being greater than a fourth speed threshold, the first speed coefficient is adjusted according to a fourth exponential formula; The difference has a positive and negative sign, the first speed threshold and the second speed threshold are both positive numbers, the first speed threshold is greater than the second speed threshold, the third speed threshold and the fourth speed threshold are both negative numbers, and the third speed threshold is greater than the fourth speed threshold. The base of the third exponential formula is greater than the base of the fourth exponential formula, the first speed step is greater than the second speed step, the reference speed is determined based on the weight information of the cargo, and can be manually set based on the historical weight information and the lifting speed, and the weight information of the cargo can be obtained by scanning the identity code of the cargo.

[0051] In response to the weight information of the cargo being greater than the first weight threshold, the base of the fourth exponential formula is adjusted according to the second weight step.

[0052] In response to a difference between an ambient temperature of the electromagnetic sling and a reference temperature being greater than a first temperature threshold, adjusting a second ambient coefficient according to a third temperature step; In response to a difference between the ambient temperature of the electromagnetic hanger and the reference temperature being less than a second temperature threshold, adjusting the second environmental coefficient according to a fourth temperature step; The difference has positive and negative signs, the first temperature threshold is a positive value, the second temperature threshold is a negative value, the third temperature step may be equal to the fourth temperature step, and the reference temperature may be set manually based on experience.

[0053] In response to a difference between the ambient humidity of the electromagnetic hanger and the reference humidity being greater than a first humidity threshold, adjusting a second ambient coefficient according to a second humidity step; The difference has positive and negative signs, the second humidity threshold is a positive value, and the reference humidity can be set manually based on experience.

[0054] In response to the difference between the ambient wind speed of the electromagnetic spreader and the reference wind speed being greater than a third wind speed threshold, adjusting the second ambient coefficient according to the third wind speed step; In response to a difference between the ambient wind speed of the electromagnetic spreader and the reference wind speed being greater than a fourth wind speed threshold, adjusting the second ambient coefficient according to a fourth wind speed step; The difference has positive and negative signs, the third wind speed threshold and the fourth wind speed threshold are both positive values, the third wind speed threshold is smaller than the fourth wind speed threshold, the third wind speed step is smaller than the fourth wind speed step, and the reference wind speed can be set manually based on experience.

[0055] The difference between the working time of the response and the electromagnetic lifter and the reference working time is greater than the first working time threshold, and the second working time coefficient is adjusted according to the third linear formula; The difference between the working time of the response and the reference working time of the electromagnetic lifter is greater than the second working time threshold, and the second working time coefficient is adjusted according to the fourth linear formula; Among them, the difference has positive and negative signs, the third working hour threshold and the fourth working hour threshold are both positive values, the third working hour threshold is smaller than the fourth working hour threshold, the slope of the third linear formula is smaller than the slope of the fourth linear formula, and the reference working hours can be set artificially based on experience.

[0056] For example, the third exponent formula could be ,in, is the adjustment value, is the third index, is the speed of the electromagnetic spreader, the fourth exponential formula can be ,in, is the adjustment value, is the fourth index, is the speed of the electromagnetic spreader. Considering that when the speed is greater than the reference value (i.e., greater than the first speed threshold), the cargo will fall, so the third exponential function can be used to adjust the speed of the electromagnetic spreader more quickly, and when the speed is less than the reference value (i.e., less than the fourth speed threshold), the lifting efficiency is only slightly reduced, so the fourth exponential function can be used to adjust the speed of the electromagnetic spreader more quickly. At the same time, the loss caused by cargo falling is greater than the loss caused by low lifting efficiency, so the third base of the third exponential function is greater than the fourth base of the fourth exponential function.

[0057] Considering that when the speed is greater than the reference value by a small degree (that is, greater than the second speed threshold), the speed is close to the reference speed at this time. If the first exponential function is continued to be used for adjustment, overshoot will occur. Therefore, the first speed step is used to adjust the first speed coefficient. Similarly, considering that when the speed is less than the reference value by a small degree (that is, less than the third speed threshold), the speed is close to the reference speed at this time. If the second exponential function is continued to be used for adjustment, overshoot will occur. Therefore, the second speed step is used to adjust the first speed coefficient.

[0058] Considering that when the weight of the goods is heavier (i.e. greater than the first weight threshold), the inertia of the goods is larger, it is difficult to reliably adsorb the goods if the original fourth exponential function is still used for control and adjustment, so the base of the fourth exponential function is adjusted according to the first weight step.

[0059] Taking into account the influence of temperature on magnetic force, the lifting speed should also change to adapt to environmental changes. When the difference between the ambient temperature of the electromagnetic lifter and the reference temperature is greater than the first temperature threshold, the second environmental coefficient is adjusted according to the third temperature step; when the difference between the ambient temperature of the electromagnetic lifter and the reference temperature is less than the second temperature threshold, the second environmental coefficient is adjusted according to the fourth temperature step. Since both high and low temperatures will lead to a decrease in magnetic force, the third temperature step and the fourth temperature step can be equal. The third temperature step and the fourth temperature step are artificially set based on experience.

[0060] Considering the influence of temperature on magnetic force, the lifting speed should also change to adapt to environmental changes. When the difference between the ambient humidity of the electromagnetic sling and the reference humidity is greater than the first humidity threshold, the second environmental coefficient is adjusted according to the second humidity step; the second humidity step can be set manually based on experience. Taking into account the impact of wind speed on speed, when the difference between the ambient wind speed of the electromagnetic spreader and the reference wind speed is greater than the third wind speed threshold, the second environmental coefficient is adjusted according to the third wind speed step; when the difference between the ambient wind speed of the electromagnetic spreader and the reference wind speed is greater than the fourth wind speed threshold, the second environmental coefficient is adjusted according to the fourth wind speed step. Since wind speed can cause the cargo to shift and increase the resistance to lifting, and the greater the wind speed, the greater the resistance, the lifting speed should be reduced, the third wind speed step is smaller than the fourth wind speed step, and the third and fourth wind speed steps are set artificially based on experience.

[0061] Taking into account the influence of working time on magnetic force, the lifting speed should also change to adapt to the change of magnetic force. When the difference between the working time of the electromagnetic lifter and the reference working time is greater than the first working time threshold, the second working time coefficient is adjusted according to the third linear formula; when the difference between the working time of the electromagnetic lifter and the reference working time is greater than the second working time threshold, the second working time coefficient is adjusted according to the fourth linear formula.

[0062] The third linear formula can be ,in, To adjust the value, is the third slope, is the working time; the second linear formula can be ,in, To adjust the value, is the fourth slope, For working hours.

[0063] The accumulation of working time will cause hysteresis loss, which will cause the iron core to heat up. As time goes by, this loss will gradually affect the magnetic properties of the iron core and weaken the magnetic force. At this time, if the lifting is still controlled at the original speed, it will cause the goods to fall. As the working time increases, the hysteresis loss becomes more obvious. Therefore, the slope of the third linear formula is smaller than the slope of the fourth linear formula. The slopes of the third linear formula and the fourth linear formula are set artificially based on experience.

[0064] From the above, it can be concluded that the present disclosure introduces the second lifting control algorithm and its coefficients, so that the method can be dynamically adjusted according to the real-time speed, environmental information and working time of the electromagnetic hoist. The above dynamic adjustment mechanism enables the system to cope with various complex working conditions more flexibly, thereby improving the stability and efficiency of the operation; the present disclosure sets multiple speed thresholds and different adjustment strategies (such as exponential formula, step size adjustment, linear formula, etc.), so that the system can adopt a more refined control strategy according to the degree of deviation between the electromagnetic hoist speed and the reference speed, which not only improves the accuracy of control, but also helps to reduce the safety hazards caused by excessive speed fluctuations.

[0065] In one embodiment of the present disclosure, the electromagnetic spreader lifting control method further includes: obtaining a gap between the target cargo and the electromagnetic spreader; In response to the gap amount being greater than a first threshold, a reference value of the first hoisting control algorithm and a reference value of the second hoisting control algorithm are adjusted.

[0066] In this embodiment, the target cargo is cargo to be lifted at the port, and the gap is the distance between the target cargo and the electromagnetic spreader. The distance between the target cargo and the electromagnetic spreader can be obtained by obtaining an image through a camera, monitoring, etc., and according to the trained neural network model; The first threshold may be set based on experience.

[0067] The reference value of the first hoisting control algorithm may be a reference magnetic force, and the reference value of the second hoisting control algorithm may be a reference speed.

[0068] In response to the gap amount being greater than a first threshold, adjusting the reference magnetic force according to a first compensation step size; In response to the gap amount being greater than a first threshold, the reference speed is adjusted according to a second compensation step size; The first compensation step length and the second compensation step length can be set manually based on experience.

[0069] For example, considering that the actual weight of the cargo may be greater than the weight recorded in the identification code, the magnetic force may be too small during the lifting process, resulting in ineffective and safe lifting. Therefore, during the lifting process, the gap amount is monitored in real time. Once the gap amount is greater than the first threshold, the reference magnetic force is immediately adjusted to increase with the first compensation step, and the reference speed is adjusted to decrease with the second compensation step.

[0070] From the above, it can be concluded that the present invention helps to prevent lifting failure or safety accidents caused by cargo weight deviation by monitoring the gap between the target cargo and the electromagnetic lifter in real time, and timely adjusting the reference magnetic force of the first lifting control algorithm and the reference speed of the second lifting control algorithm when the gap exceeds a preset first threshold value; increasing the magnetic force can ensure that the cargo is firmly adsorbed, and reducing the speed helps to complete the lifting operation more smoothly and safely, thereby improving the precision and reliability of the electromagnetic lifter's lifting control.

[0071] Corresponding to the electromagnetic lifting device lifting control method of the above embodiment, Figure 2 This is a structural block diagram of an electromagnetic hoisting control device provided by an embodiment of the present disclosure. For ease of explanation, only the parts related to the embodiment of the present disclosure are shown. Figure 2 The electromagnetic hoisting device lifting control device 20 includes: a magnetic force adjustment module 21, a speed adjustment module 22 and a lifting control module 23.

[0072] The magnetic force adjustment module 21 is used to adjust the coefficient of the first lifting control algorithm based on the target information, the first lifting control algorithm is used to control the magnetic force of the electromagnetic lifter, and the target information includes the working information and environmental information of the electromagnetic lifter; A speed adjustment module 22, used to adjust the coefficient of the second lifting control algorithm based on the target information, the second lifting control algorithm is used to control the speed of the electromagnetic spreader; The lifting control module 23 is used to control the electromagnetic lifting device to perform lifting based on the first lifting control algorithm and the second lifting control algorithm.

[0073] In one embodiment of the present disclosure, the magnetic force adjustment module 21 is specifically used for working information including the magnetic force of the electromagnetic lifter, the speed of the electromagnetic lifter and the working time of the electromagnetic lifter; the environmental information includes the ambient temperature, ambient humidity and ambient wind speed of the environment in which the electromagnetic lifter is located.

[0074] In one embodiment of the present disclosure, the magnetic force adjustment module 21 is further used for the working information including the magnetic force of the electromagnetic lifter, the speed of the electromagnetic lifter and the working time of the electromagnetic lifter; The environmental information includes the ambient temperature, ambient humidity and ambient wind speed of the environment in which the electromagnetic lifter is located.

[0075] In one embodiment of the present disclosure, the magnetic force adjustment module 21 is further configured to adjust the coefficient of the first lifting control algorithm based on the target information, including: adjusting a first magnetic coefficient based on a magnetic force of the electromagnetic hanger; adjusting a first environmental coefficient based on the environmental information; Adjust the first working hours factor based on the working hours.

[0076] In one embodiment of the present disclosure, the speed adjustment module 22 is specifically used for the coefficients of the second lifting control algorithm, including: a first speed coefficient, a second environment coefficient and a second working time coefficient.

[0077] In one embodiment of the present disclosure, the speed adjustment module 22 is further configured to adjust the coefficient of the second lifting control algorithm based on the target information, including: adjusting a first speed coefficient based on a speed of the electromagnetic spreader; adjusting a second environmental coefficient based on the environmental information; Adjust the second working hours factor based on the working hours.

[0078] In one embodiment of the present disclosure, the electromagnetic hoisting control device 20 further includes: a compensation module; A compensation module is used to obtain the gap between the target cargo and the electromagnetic spreader; In response to the gap amount being greater than a first threshold, a reference value of the first hoisting control algorithm and a reference value of the second hoisting control algorithm are adjusted.

[0079] See also Figure 3 , Figure 3 A schematic block diagram of an electronic device provided by an embodiment of the present disclosure. Figure 3 The electronic device 300 in the embodiment shown may include: one or more processors 301, one or more input devices 302, one or more output devices 303 and one or more memories 304. The processors 301, input devices 302, output devices 303 and memories 304 communicate with each other via a communication bus 305. The memory 304 is used to store computer programs, which include program instructions. The processor 301 is used to execute the program instructions stored in the memory 304. The processor 301 is configured to call the program instructions to execute the functions of each module / unit in the above-mentioned device embodiments, such as Figure 2 The functions of modules 21 to 23 are shown.

[0080] It should be understood that in the embodiment of the present disclosure, the processor 301 may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0081] The input device 302 may include a touch panel, a fingerprint collection sensor (for collecting the user's fingerprint information and fingerprint direction information), a microphone, etc., and the output device 303 may include a display (LCD, etc.), a speaker, etc.

[0082] The memory 304 may include a read-only memory and a random access memory, and provide instructions and data to the processor 301. A portion of the memory 304 may also include a non-volatile random access memory. For example, the memory 304 may also store information about the device type.

[0083] In a specific implementation, the processor 301, input device 302, and output device 303 described in the embodiments of the present disclosure can execute the implementation methods described in the first and second embodiments of the electromagnetic hoisting control method provided in the embodiments of the present disclosure, and can also execute the implementation methods of the electronic device described in the embodiments of the present disclosure, which will not be repeated here.

[0084] In another embodiment of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by the processor, all or part of the processes in the above-mentioned embodiment method are implemented, and the computer program can also be completed by instructing the relevant hardware through the computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by the processor, the steps of each of the above-mentioned method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0085] The computer-readable storage medium may be an internal storage unit of the electronic device of any of the aforementioned embodiments, such as a hard disk or memory of the electronic device. The computer-readable storage medium may also be an external storage device of the electronic device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device. Furthermore, the computer-readable storage medium may also include both an internal storage unit of the electronic device and an external storage device. The computer-readable storage medium is used to store computer programs and other programs and data required by the electronic device. The computer-readable storage medium may also be used to temporarily store data that has been output or is to be output.

[0086] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this disclosure.

[0087] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the electronic devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0088] In the several embodiments provided in the present application, it should be understood that the disclosed electronic devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces or units, or it can be an electrical, mechanical or other form of connection.

[0089] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of the present disclosure.

[0090] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0091] The above are only specific embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present disclosure, and these modifications or replacements should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A method for controlling the lifting of an electromagnetic sling, characterized in that: include: adjusting coefficients of a first lifting control algorithm based on target information, the first lifting control algorithm being used to control the magnetic force of the electromagnetic lifter, the target information including working information and environmental information of the electromagnetic lifter; adjusting coefficients of a second lifting control algorithm based on the target information, the second lifting control algorithm being used to control the speed of the electromagnetic spreader; The electromagnetic lifter is controlled to perform lifting based on the first lifting control algorithm and the second lifting control algorithm.

2. The electromagnetic lifting device lifting control method according to claim 1, characterized in that: The working information includes: the magnetic force of the electromagnetic lifter, the speed of the electromagnetic lifter and the working time of the electromagnetic lifter; The environmental information includes: the ambient temperature, ambient humidity and ambient wind speed of the environment in which the electromagnetic lifting device is located.

3. The electromagnetic lifting device lifting control method according to claim 2, characterized in that: The coefficients of the first lifting control algorithm include: a first magnetic coefficient, a first environmental coefficient and a first working time coefficient.

4. The electromagnetic lifting device lifting control method according to claim 3, characterized in that: The adjusting the coefficient of the first lifting control algorithm based on the target information includes: adjusting the first magnetic coefficient based on the magnetic force of the electromagnetic hanger; adjusting the first environmental coefficient based on the environmental information; The first working time coefficient is adjusted based on the working time.

5. The electromagnetic lifting device lifting control method according to claim 2, characterized in that: The coefficients of the second lifting control algorithm include: a first speed coefficient, a second environment coefficient and a second working time coefficient.

6. The electromagnetic lifting device lifting control method according to claim 5, characterized in that: The adjusting the coefficient of the second lifting control algorithm based on the target information includes: adjusting the first speed coefficient based on the speed of the electromagnetic spreader; adjusting the second environmental coefficient based on the environmental information; The second working time coefficient is adjusted based on the working time.

7. The electromagnetic lifting device lifting control method according to claim 1, characterized in that: Also includes: Obtaining the gap between the target cargo and the electromagnetic spreader; In response to the gap amount being greater than a first threshold, a reference value of the first hoisting control algorithm and a reference value of the second hoisting control algorithm are adjusted.

8. An electromagnetic hoisting control device, characterized in that: include: a magnetic force adjustment module, configured to adjust coefficients of a first lifting control algorithm based on target information, wherein the first lifting control algorithm is configured to control the magnetic force of the electromagnetic lifter, and the target information includes working information and environmental information of the electromagnetic lifter; a speed adjustment module, configured to adjust a coefficient of a second lifting control algorithm based on target information, wherein the second lifting control algorithm is configured to control a speed of the electromagnetic spreader; A lifting control module is used to control the electromagnetic lifting device to perform lifting based on the first lifting control algorithm and the second lifting control algorithm.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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