Electric lifting platform status data remote transmission control method and system

Abstract

The present invention provides a method and system for remote transmission control of status data of an electric lifting platform, which relates to the field of communication technology. The method comprises: sending the number of ascending floors to a controller via a first channel, determining a recommended ascending speed, and sending it to a remote control terminal; selecting an ascending control speed, and sending it to a controller; monitoring the actual ascending speed of the electric lifting platform; determining whether an abnormal condition occurs; if an abnormal condition occurs, generating a warning message and sending it to the remote control terminal via a second channel, and the remote control terminal generates an emergency stop command and sends it to the controller to control the electric lifting platform to stop urgently. According to the present invention, it is possible to determine whether an abnormal condition occurs in the electric lifting platform, and to transmit a warning message via a dedicated second channel, and to perform emergency processing, which is not mixed with channels for transmitting monitoring data and control data, and to keep the second channel unobstructed at all times, thereby reducing the probability of channel congestion, improving the efficiency of handling abnormal conditions, and reducing the danger of abnormal conditions.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to a remote transmission control method and system for status data of an electric lifting platform. Background Art

[0002] In the related art, CN116319900B discloses a data transmission method for the elevator Internet of Things, including the following steps: Step 101: The management module controls the start and stop of each functional module, completes the connection between the electrical signal and the wireless signal, and serves as the central management terminal; Step 102: The acquisition module acquires the elevator operation data, converts it into an adaptive format, and enters the initial parameters; Step 103: The monitoring module sorts the acquired initial parameters, completes the detection in sequence by running the monitoring algorithm, and obtains the standard safety threshold to determine whether there is problem data; This scheme increases the identification and marking of the interference source during the data transmission process, and specifically shields the frequency band of the interference source to avoid its continuous impact on the transmission quality of the elevator data. When detecting problem data in the detection process, the frequency of data collection and detection can be changed, thereby further enriching the acquired data.

[0003] CN115361309B discloses a split-type elevator communication system capable of remote monitoring, comprising a network management platform, a host unit connected to the network management platform, and a follower unit connected to the host unit. By adding a modulation and demodulation module to the host unit and the follower unit for modulating and demodulating network monitoring signals and up / down network communication status information to a frequency band or frequency different from that of the up / down communication network signal, it is possible to monitor the communication status in real time without monitoring a modem and a SIM card, thereby significantly reducing operating costs.

[0004] Therefore, in the related technology, although it is possible to remotely monitor the operating data of elevators and other lifting platforms and transmit them remotely, the related technology does not consider whether the channel is congested, especially when the remote control end monitors multiple lifting platforms at the same time, whether the data transmission channel is congested, and whether the data can be transmitted in time and responded to in time when abnormal conditions occur.

[0005] The information disclosed in the background technology section of this application is only intended to deepen the understanding of the general background technology of this application, and should not be regarded as an admission or any form of suggestion that the information constitutes the prior art already known to those skilled in the art. Summary of the invention

[0006] The present invention provides a method and system for remote transmission control of status data of an electric lifting platform, which can solve the technical problem that related technologies cannot transmit data in time and respond in time when abnormal conditions occur.

[0007] According to a first aspect of the present invention, there is provided a method for remote transmission control of state data of an electric lifting platform, comprising:

[0008] At the beginning of the ascending process, the remote control terminal sends the number of ascending floors to the controller of the electric lifting platform through the first channel;

[0009] The controller determines a recommended ascending speed according to the number of ascending floors, the deadweight data of the electric lifting platform, and the load data of the electric lifting platform, and sends the recommended ascending speed to the remote control terminal through the first channel;

[0010] The remote control terminal selects an ascending control speed according to the recommended ascending speed, and sends the ascending control speed to the controller through the first channel;

[0011] The controller controls the electric lifting platform to rise according to the rising control speed, and monitors the actual rising speed of the electric lifting platform at multiple moments during the actual rising process;

[0012] determining whether an abnormal condition occurs according to the actual ascent speed, the recommended ascent speed, and the ascent control speed;

[0013] In the event of an abnormal situation, generating a warning message and sending it to the remote control terminal via a second channel, wherein the second channel is a different channel from the first channel;

[0014] The remote control terminal generates an emergency stop command according to the warning message and sends it to the controller via a second channel;

[0015] The controller controls the electric lifting platform to stop urgently according to the emergency stop instruction.

[0016] According to a second aspect of the present invention, there is provided a remote transmission control system for state data of an electric lifting platform, comprising:

[0017] A first sending module, used for, when the ascending process starts, the remote control terminal sends the number of ascending floors to the controller of the electric lifting platform through the first channel;

[0018] A recommended ascending speed module, used for the controller to determine a recommended ascending speed according to the number of ascending floors, the deadweight data of the electric lifting platform and the load data of the electric lifting platform, and send the recommended ascending speed to the remote control terminal through the first channel;

[0019] An ascending control speed module, used for the remote control end to select an ascending control speed according to the recommended ascending speed, and send the ascending control speed to the controller through the first channel;

[0020] A monitoring module, used for the controller to control the electric lifting platform to rise according to the rising control speed, and to monitor the actual rising speed of the electric lifting platform at multiple moments during the actual rising process;

[0021] an abnormal condition judgment module, used for determining whether an abnormal condition occurs according to the actual ascent speed, the recommended ascent speed and the ascent control speed;

[0022] A warning message module, used for generating a warning message and sending it to the remote control end through a second channel when an abnormal situation occurs, wherein the second channel is a different channel from the first channel;

[0023] A second sending module, used for the remote control terminal to generate an emergency stop command according to the warning message and send it to the controller via a second channel;

[0024] The emergency stop module is used for the controller to control the electric lifting platform to stop urgently according to the emergency stop instruction.

[0025] Technical effect: According to the present invention, the control data and monitoring data can be transmitted between the remote control end and the controller of the electric lifting platform through the first channel. The controller can determine the optimal recommended ascending speed to improve the transportation efficiency and recommend it to the personnel at the remote control end. After the remote control end selects the ascending control speed, the actual ascending speed can be monitored in real time, and it can be determined whether an abnormal situation occurs. The warning message can be transmitted through the dedicated second channel, and emergency processing can be carried out. The channel for transmitting monitoring data and control data is not mixed, and the second channel is kept unobstructed at all times, thereby reducing the probability of channel congestion, improving the efficiency of handling abnormal situations, and reducing the danger of abnormal situations. The acceleration ascending stage can be divided into two processes: driving with a fixed pulling force and driving with a fixed power, which is more in line with the actual movement law of the electric lifting platform. When driving with a fixed pulling force, the maximum pulling force can be used for driving, which improves the acceleration efficiency and the overall transportation efficiency. When driving with a fixed power, the mechanical efficiency is considered to improve the scientificity and accuracy of the calculation. The deceleration and ascent stage can also be divided into two processes: deceleration according to fixed power and deceleration according to fixed pulling force, which is more in line with the actual motion law of the electric lifting platform. The mechanical efficiency can be considered in the process of deceleration according to fixed power to improve the accuracy and scientificity of the calculation. In the process of deceleration according to fixed pulling force, the uniform deceleration motion can be used to reduce the speed of the electric lifting platform to 0, thereby improving the stability of the deceleration process. When setting the constraints, the constraints of the speed optimization model can be set, the total ascent height of the predicted ascent process can be restricted, and the value range of the coefficient to be determined can be restricted. Furthermore, the number of moments experienced in the non-uniform ascent stage and the number of moments experienced in the uniform ascent stage can be restricted to improve the stability of the overall ascent process, reduce the burden on the driving equipment and the mechanical fatigue of the electric lifting platform, and reduce the failure rate of the electric lifting platform. When setting the objective function, the average speed can be set by the load data, so that the total duration of the predicted ascent process obtained by simulation is more in line with expectations, and the duration of the uniform ascent stage can be made as long as possible, and the duration of the non-uniform ascent stage can be made as short as possible, thereby maximizing the overall stability of the ascent process. When setting abnormal condition judgment conditions, four abnormal condition judgment conditions can be set: the driving device cannot drive the electric lifting platform to rise, the control of the driving device fails, the actual ascent speed of the uniform ascent process is significantly different from the recommended value and the control value, and the actual ascent process time seriously deviates from the expected value. Based on the abnormal condition judgment conditions, it is possible to judge whether the electric lifting platform has an abnormal condition, thereby improving the accuracy and objectivity of the judgment.

[0026] It should be understood that the above general description and the following detailed description are exemplary and explanatory only and do not limit the present invention. Other features and aspects of the present invention will become more apparent from the following detailed description of exemplary embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other embodiments can be obtained based on these drawings without creative work.

[0028] Figure 1 A schematic diagram exemplarily shows a flow chart of a method for remote transmission control of state data of an electric lifting platform according to an embodiment of the present invention;

[0029] Figure 2 A block diagram of a remote transmission control system for status data of an electric lifting platform according to an embodiment of the present invention is exemplarily shown. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0032] Figure 1 A flow chart of a method for remote transmission control of state data of an electric lifting platform according to an embodiment of the present invention is exemplarily shown, and the method comprises:

[0033] Step S101, when the ascending process starts, the remote control terminal sends the number of ascending floors to the controller of the electric lifting platform through the first channel;

[0034] Step S102, the controller determines a recommended ascending speed according to the number of ascending floors, the deadweight data of the electric lifting platform, and the load data of the electric lifting platform, and sends the recommended ascending speed to the remote control terminal through the first channel;

[0035] Step S103, the remote control terminal selects an ascending control speed according to the recommended ascending speed, and sends the ascending control speed to the controller through the first channel;

[0036] Step S104, the controller controls the electric lifting platform to rise according to the rising control speed, and monitors the actual rising speed of the electric lifting platform at multiple moments during the actual rising process;

[0037] Step S105, determining whether an abnormal condition occurs according to the actual ascent speed, the recommended ascent speed and the ascent control speed;

[0038] Step S106, in the event of an abnormal situation, generating a warning message and sending it to the remote control end through a second channel, wherein the second channel is a different channel from the first channel;

[0039] Step S107, the remote control terminal generates an emergency stop command according to the warning message and sends it to the controller through the second channel;

[0040] Step S108, the controller controls the electric lifting platform to stop urgently according to the emergency stop instruction.

[0041] According to the remote transmission control method of the status data of an electric lifting platform of an embodiment of the present invention, the status control data and monitoring data can be transmitted between the remote control end and the controller of the electric lifting platform through the first channel. The controller can determine the optimal recommended ascent speed to improve the transportation efficiency, and recommend it to the personnel at the remote control end. After the remote control end selects the ascent control speed, the actual ascent speed can be monitored in real time, and it can be determined whether an abnormal situation occurs. Warning messages can be transmitted through a dedicated second channel, and emergency processing can be performed. The second channel is not mixed with the channel for transmitting monitoring data and control data, and the second channel is kept unobstructed at all times, thereby reducing the probability of channel congestion, improving the efficiency of handling abnormal situations, and reducing the danger of abnormal situations.

[0042] According to one embodiment of the present invention, in step S101, cargo can be loaded on the electric lift platform. After loading, the ascending process can be started. The remote control end can send the number of ascending floors to the controller of the electric lift platform through the first channel. For example, if the current docking position of the electric lift platform is the 2nd floor and the target docking position is the 5th floor, the remote control end can send the number of ascending floors (for example, ascending 3 floors) to the controller of the electric lift platform. Of course, the target docking position can also be directly sent to the controller of the electric lift platform, and the controller can calculate the number of ascending floors by itself. The present invention does not limit this. In addition, multiple electric lift platforms can transmit monitoring data and control data through the first channel.

[0043] According to one embodiment of the present invention, in order to improve the stability of data transmission, an anti-interference wireless transmission technology can be used. For example, the frequency hopping spread spectrum (FHSS) technology is used. This technology quickly switches the frequency of signal transmission on multiple frequencies, so that when a certain frequency is interfered with, the signal can be quickly switched to other uninterrupted frequencies for transmission, thereby effectively reducing the impact of interference on signal transmission. In addition, direct sequence spread spectrum (DSSS) technology is also a commonly used anti-interference technology, which expands the spectrum of the signal to a wider frequency band, so that the power spectrum density of the signal is reduced, thereby improving the anti-interference ability of the signal.

[0044] According to one embodiment of the present invention, optimizing the signal transmission path is crucial to improving the stability of data transmission. First, by rationally planning the signal transmission route, obstacles blocking the signal during transmission can be reduced, such as reducing the attenuation and reflection of the signal by metal objects, concrete walls, etc. Secondly, signal relay equipment can be added. When the signal transmission distance is too long, a repeater is set at an appropriate location to amplify and forward the signal to compensate for the attenuation of the signal during transmission, ensuring that the signal can be stably transmitted to the receiving end.

[0045] According to one embodiment of the present invention, in the manufacturing process of communication equipment, high-quality electronic components, advanced manufacturing processes and strict quality inspection standards are selected to ensure the performance and reliability of the equipment. At the same time, the daily maintenance of communication equipment is strengthened, and the equipment is regularly inspected, cleaned, debugged and repaired to promptly discover and solve problems with the equipment, such as replacing aging electronic components, repairing damaged circuits, updating software versions, etc., so that the equipment always maintains a good working condition. In addition, equipment maintenance files are established to record the maintenance history and operating status of the equipment, which provides a reference for the maintenance and fault diagnosis of communication equipment and also helps to improve the stability and reliability of communication equipment.

[0046] According to one embodiment of the present invention, in step S102, the lifting equipment used by the electric lifting platform is fixed, so its parameters such as maximum power and maximum torque are fixed. In this case, the heavier the load, the slower the lifting speed. The controller can determine a suitable recommended lifting speed based on load data and other data, and send the recommended lifting speed to the remote control end through the first channel.

[0047] According to one embodiment of the present invention, the controller determines the recommended ascending speed according to the number of ascending floors, the self-weight data of the electric lifting platform and the load data of the electric lifting platform, and sends the recommended ascending speed to the remote control end, including: determining the ascending distance according to the number of ascending floors; determining the maximum driving power of the electric lifting platform; setting a pending value of the recommended ascending speed; determining the acceleration function of the electric lifting platform according to the pending value of the recommended ascending speed, the maximum driving power, the self-weight data of the electric lifting platform and the load data of the electric lifting platform; determining the deceleration function of the electric lifting platform according to the pending value of the recommended ascending speed, the self-weight data of the electric lifting platform and the load data of the electric lifting platform; determining the optimal solution of the pending value of the recommended ascending speed according to the acceleration function of the electric lifting platform, the deceleration function of the electric lifting platform and the ascending distance as the recommended ascending speed.

[0048] According to one embodiment of the present invention, if the height of each floor is equal, the ascending distance can be obtained by multiplying the height of each floor by the number of ascending floors. If the heights of different floors are different, the heights of each floor can be added to obtain the ascending distance. The maximum driving power of the electric lifting platform can also be determined as a parameter for subsequently solving the recommended ascending speed.

[0049] According to one embodiment of the present invention, the ascending process of the electric lifting platform can be divided into three stages, namely, the acceleration ascending stage, the uniform ascending stage and the deceleration ascending stage. In the acceleration ascending stage, the electric lifting platform can generate pulling force through a driving device such as a motor that can generate driving force, accelerate the electric lifting platform from a speed of 0 to a certain speed, and maintain the speed for a certain distance. When it is about to reach the target floor, it will decelerate again, and finally when it reaches the target floor, the speed of the electric lifting platform will be decelerated to 0. The motion laws of the three stages can be analyzed one by one, and optimized to obtain the most suitable speed of the uniform ascending stage as the recommended ascending speed.

[0050] According to one embodiment of the present invention, the motion law of the acceleration and ascending stage is first analyzed. According to the maximum driving power, the deadweight data of the electric lifting platform and the load data of the electric lifting platform, the acceleration function of the electric lifting platform includes: setting the initial value of the acceleration function of the electric lifting platform , and the end value of the electric lifting platform acceleration function ,in, is the rising speed of the electric lifting platform at the beginning, To predict the number of moments in the acceleration phase of the ascent, In order to predict the rising speed of the electric lifting platform at the end of the accelerated rising stage during the rising process, is the undetermined value of the recommended ascending speed; the acceleration function of the electric lifting platform is determined according to formula (1):

[0051] (1),

[0052] in, is the rising speed of the electric lifting platform at the i+1th moment, is the rising speed of the electric lifting platform at the i-th moment, is the maximum pulling force of the electric lifting platform, m is the load data of the electric lifting platform, M is the deadweight data of the electric lifting platform, is the maximum driving power, is the mechanical efficiency of the electric lifting platform, is the first undetermined coefficient, is the time interval between adjacent moments.

[0053] According to one embodiment of the present invention, the predicted ascent process is the ascent process simulated in the controller calculation process. In the accelerated ascent stage, it can be divided into two processes. The first process is the process in which the driving device of the electric lifting platform uses the maximum pulling force to make the speed of the electric lifting platform no longer 0. The process lasts for a short time and can accelerate the electric lifting platform to a certain speed. Subsequently, the set driving power can be used to drive the electric lifting platform to accelerate the ascent and accelerate to the undetermined value of the recommended ascent speed.

[0054] According to one embodiment of the present invention, the rising speed of the electric lifting platform at the beginning of the accelerated rising phase can be set to 0, and the rising speed of the electric lifting platform at the end can be equal to the undetermined value of the recommended rising speed, and the force and speed of the electric lifting platform in the process are analyzed.

[0055] According to one embodiment of the present invention, the driving power used in the second process of the acceleration rising stage can be set to Furthermore, after considering the energy loss, the actual power that can drive the mechanical motion is Therefore, in order to make the two stages connect smoothly, in the first process, the maximum pulling force can be used to accelerate the speed of the electric lifting platform from 0 to Therefore, when the rising speed is less than this value, the resultant force on the electric lifting platform is , the acceleration is , and when the time interval between adjacent moments is small, is determined as the acceleration at the ith moment, so in the first process, .

[0056] According to one embodiment of the present invention, during the second process, the drive device of the electric drive platform maintains Therefore, the actual mechanical power is , at the i-th moment, the speed of the electric lifting platform is When , the pulling force generated by the driving device is , at this time the acceleration of the electric lifting platform And, as the speed of the electric lift changes, its acceleration will also change.

[0057] In this way, the acceleration and ascent stage can be divided into two processes: driving with a fixed pulling force and driving with a fixed power, which is more in line with the actual movement law of the electric lifting platform. When driving with a fixed pulling force, the maximum pulling force can be used to improve the acceleration efficiency and overall transportation efficiency. When driving with a fixed power, the mechanical efficiency can be considered to improve the scientificity and accuracy of the calculation.

[0058] According to one embodiment of the present invention, at multiple moments in the uniform ascent phase during the predicted ascent process, the electric lift platform can rise at a uniform speed according to the undetermined value of the recommended ascent speed. In this case, the ascent height of the electric lift platform in the uniform ascent phase is equal to the undetermined value of the recommended ascent speed multiplied by the duration of the uniform ascent. In addition, at this stage, the acceleration of the electric lift platform is 0. At this time, the driving power of the driving device is , considering the mechanical power, the pulling force generated by the driving device is ,equal .

[0059] According to an embodiment of the present invention, during the deceleration and ascent phase, the deceleration can be divided into two processes: deceleration according to a fixed power and deceleration according to a fixed pulling force. According to the undetermined value of the recommended ascent speed, the deadweight data of the electric lifting platform and the load data of the electric lifting platform, the deceleration function of the electric lifting platform is determined, including: setting the initial value of the deceleration function of the electric lifting platform , and the end value of the electric lift platform deceleration function ,in, is the sequence number of the end time of the uniform ascent phase in the predicted ascent process, To predict the number of moments of the ascent, In order to predict the rising speed of the electric lifting platform at the end of the uniform rising stage during the rising process, To predict the ascending speed of the electric lifting platform at the end of the deceleration ascending stage during the ascending process; the deceleration function of the electric lifting platform is determined according to formula (2):

[0060] (2),

[0061] in, is the third undetermined coefficient, is the fourth undetermined coefficient.

[0062] According to one embodiment of the present invention, during the deceleration and ascent phase, the initial speed of the electric lifting platform is , the speed at the end is 0. In formula (2), during the deceleration process at a fixed power, the pulling force generated by the driving device of the electric lifting platform is , the tension value is less than , and less than , so that the electric lifting platform can be decelerated. After deceleration to a certain level, it can be used less than The fixed pulling force reduces the speed of the electric lifting platform to 0.

[0063] According to one embodiment of the present invention, in formula (2), the fixed tension is: , therefore, in In the case of Previously, the drive equipment was used to fix the power Deceleration is performed, and considering the mechanical efficiency, the pulling force generated is , the acceleration of the electric lifting platform , and as the rising speed decreases, the pulling force will increase, and when the pulling force is equal to , the process switches to deceleration according to a fixed pulling force, and the pulling force is equal to Therefore, the acceleration of the electric lifting platform during this process is , thereby smoothly reducing the speed of the electric lifting platform to 0 in a uniform deceleration motion.

[0064] In this way, the deceleration and rising stage can be divided into two processes: deceleration according to fixed power and deceleration according to fixed pulling force, which is more in line with the actual movement law of the electric lifting platform. Mechanical efficiency can be considered in the process of deceleration according to fixed power to improve the accuracy and scientificity of the calculation. In the process of deceleration according to fixed pulling force, uniform deceleration motion can be used to reduce the speed of the electric lifting platform to 0, thereby improving the smoothness of the deceleration process.

[0065] According to one embodiment of the present invention, after determining the above electric lifting platform acceleration function, electric lifting platform deceleration function and rising distance, optimization and solution can be performed based on the motion laws of the acceleration rising stage, the uniform rising stage and the deceleration rising stage to obtain the optimal solution of the recommended rising speed. In the solution process, a speed optimization model can be used to solve the optimal solution of the recommended rising speed. The speed optimization model is a genetic algorithm model, a nonlinear programming model and the like. The present invention does not limit the specific type of the speed optimization model. The constraints and objective function of the speed optimization model can be set, and the various parameters to be determined can be adjusted under the constraints of the constraints so that the goal described by the objective function can be met to the greatest extent.

[0066] According to one embodiment of the present invention, based on the electric lifting platform acceleration function, the electric lifting platform deceleration function and the rising distance, an optimal solution for the undetermined value of the recommended rising speed is determined as the recommended rising speed, including: determining the constraints of a speed optimization model based on the electric lifting platform acceleration function, the electric lifting platform deceleration function and the rising distance; determining the objective function of the speed optimization model based on a preset average speed; and determining the optimal solution for the undetermined value of the recommended rising speed based on the constraints and objective function of the speed optimization model.

[0067] According to one embodiment of the present invention, the constraint conditions of the speed optimization model are determined according to the acceleration function of the electric lifting platform, the deceleration function of the electric lifting platform and the rising distance, including: determining the constraint conditions of the speed optimization model according to formula (3), formula (4), formula (5), formula (6), formula (7), formula (8), formula (9) and formula (10),

[0068] (3),

[0069] (4),

[0070] (5),

[0071] (6),

[0072] (7),

[0073] (8),

[0074] (9),

[0075] (10),

[0076] in, is the second unknown coefficient, and H is the rising distance.

[0077] According to one embodiment of the present invention, in formula (3), is the average speed in the time period between two adjacent moments, so, The rising height in the time period between two adjacent moments is summed up to obtain the total rising height, which is equal to the rising distance calculated according to the number of rising floors. The total rising height of the electric lifting platform in the three stages can be limited.

[0078] According to one embodiment of the present invention, formula (4) and formula (5) are used to express the speed and acceleration of the electric lifting platform in the uniform ascent stage. As described above, in the uniform ascent stage, the speed of the electric lifting platform remains unchanged, which is the undetermined value of the recommended ascent speed, and its acceleration is 0, that is, the pulling force generated by the driving device is and equal.

[0079] According to one embodiment of the present invention, in formula (6), is the time of the acceleration phase, is the time number of the deceleration rising stage, therefore, is the number of time spent in all non-uniform ascent stages, That is, the number of moments experienced in the uniform ascent stage. Formula (6) can make the number of moments experienced in the non-uniform ascent stage less than the number of moments experienced in the uniform ascent stage, so that the duration of the uniform motion of the electric lifting platform is longer, improving the stability of the overall ascent process. The uniform motion process can also reduce the burden on the driving equipment and the mechanical fatigue of the electric lifting platform, thereby reducing the failure rate of the electric lifting platform.

[0080] According to one embodiment of the present invention, formula (7), formula (8), formula (9) and formula (10) are value ranges of several undetermined coefficients. As mentioned above, these undetermined coefficients are all values ​​between 0 and 1, wherein the third undetermined coefficient may be equal to 0, that is, in the process of decelerating at a fixed power in the deceleration ascending stage, the driving power is 0, and the acceleration of the electric lifting platform is .

[0081] In this way, the constraints of the speed optimization model can be set, the total ascent height of the predicted ascent process can be restricted, and the value range of the coefficients to be determined can be restricted. Furthermore, the number of moments experienced in the non-uniform ascent stage and the number of moments experienced in the uniform ascent stage can be limited, thereby improving the smoothness of the overall ascent process, reducing the burden on the driving equipment and the mechanical fatigue of the electric lifting platform, and reducing the failure rate of the electric lifting platform.

[0082] According to one embodiment of the present invention, determining the objective function of the speed optimization model according to the preset average speed includes: determining the objective function of the speed optimization model according to formulas (11) and (12),

[0083] (11),

[0084] (12),

[0085] in, It is the average speed preset according to the load data.

[0086] According to one embodiment of the present invention, in formula (11), To predict the total duration of the ascent process. To preset the average speed according to the load data, for example, the load data can be divided into several intervals, each interval can correspond to an average speed, so that the preset average speed corresponding to the interval is determined based on the interval described by the current load data, and the larger the load data, the lower the preset average speed. is the expected total duration of the ascent process. Formula (11) is to narrow the gap between the expected total duration of the ascent process and the predicted total duration of the ascent process, so that the predicted total duration of the ascent process obtained by simulation is more consistent with expectations.

[0087] According to one embodiment of the present invention, in formula (12), as described above, is the number of time spent in all non-uniform ascent stages, That is, the number of moments experienced in the uniform ascent stage. Therefore, formula (12) maximizes the ratio between the number of moments experienced in the uniform ascent stage and the number of moments experienced in the non-uniform ascent stage, making the duration of the uniform ascent stage as long as possible and the duration of the non-uniform ascent stage as short as possible, thereby maximizing the overall stability of the ascent process.

[0088] In this way, the average speed can be set according to the load data, so that the total duration of the predicted ascent process obtained by simulation is more in line with expectations, and the duration of the uniform ascent stage can be made as long as possible, and the duration of the non-uniform ascent stage can be made as short as possible, thereby maximizing the overall smoothness of the ascent process.

[0089] According to one embodiment of the present invention, after obtaining the above constraints and objective function, various parameters can be solved under the constraints of the constraints to achieve the goal described by the objective function to the greatest extent, and the optimal solution of the undetermined value of the recommended ascent speed can be obtained as the recommended ascent speed, which is then sent to the remote control end through the first channel.

[0090] According to one embodiment of the present invention, in step S103, when selecting the ascent control speed based on the recommended ascent speed, under normal circumstances, the remote control end cannot select an ascent control speed of any value, but selects a speed gear. The speed gear can be selected manually or automatically. For example, multiple speed intervals can be set, and the speed interval to which the recommended ascent speed belongs can be determined, and then the preset speed corresponding to the speed interval is selected as the ascent control speed. For example, the preset speed corresponding to the speed interval of 3m / s-5m / s is 4m / s. When the recommended ascent speed is 3.6m / s, it belongs to this speed interval, and 4m / s can be used as the ascent control speed. Alternatively, in order to improve operational safety, the lower limit of the speed interval to which the recommended ascent speed belongs can be used as the ascent control speed. As in the above example, 3m / s is selected as the ascent control speed. After the ascent control speed is selected, it can be sent to the controller through the first channel.

[0091] According to one embodiment of the present invention, in step S104, the controller can control the electric lifting platform to rise according to the rising control speed, and monitor the actual rising speed of the electric lifting platform at multiple moments during the actual rising process. The rising control speed is the rising speed of the uniform rising process. Therefore, in the actual rising process, the above speed optimization model can be used to recalculate the values ​​of each undetermined coefficient. In the settlement process, the undetermined value of the recommended rising speed in the uniform rising stage is calculated. The rising control speed is replaced by the calculation to obtain the values ​​of each unknown coefficient, and then the rising process is started, and the actual rising speed of the electric lifting platform is monitored in real time during the rising process.

[0092] According to an embodiment of the present invention, in step S105, it is possible to determine whether an abnormal condition occurs based on the actual ascent speed, the recommended ascent speed, and the ascent control speed. Determining whether an abnormal condition occurs based on the actual ascent speed, the recommended ascent speed, and the ascent control speed includes: setting an abnormal condition determination condition based on the actual ascent speed, the recommended ascent speed, and the ascent control speed; and determining that an abnormal condition occurs when any abnormal condition determination condition is met.

[0093] According to an embodiment of the present invention, setting abnormal condition judgment conditions according to the actual ascent speed, the recommended ascent speed and the ascent control speed includes: setting abnormal condition judgment conditions C1, C2, C3 and C4 according to formula (13),

[0094] (13),

[0095] in, is the actual ascent speed at the jth moment of the actual ascent process, is the number of moments of the actual ascent process, is the actual ascent speed at the j-1th moment of the actual ascent process, is the time interval between adjacent moments, is the preset rate of change, is the recommended ascent speed, For the ascent control speed, is the first preset ratio, is the second preset ratio, and is the logical "and" operator, is the third preset ratio, is the fourth preset ratio, To predict the number of moments of the ascent, is the conditional function, j≤ , and j and are all positive integers, conditional function Indicated in In the case of , otherwise 0, conditional function Indicated in The conditional function value is 1 if , otherwise it is 0.

[0096] According to one embodiment of the present invention, in the abnormal condition judgment condition C1, if the actual rising speed at any time is less than 0, indicating that the electric lifting platform is moving downward, the driving device may be unable to drive the electric lifting platform to rise. When this condition is met, it can be judged that an abnormal condition has occurred.

[0097] According to one embodiment of the present invention, in the abnormal condition judgment condition C2, the condition function Indicated in In the case of (that is, the speed change rate between adjacent moments is less than or equal to the preset change rate, indicating that the electric lifting platform rises at a constant speed), the conditional function value is , otherwise 0. Conditional function Indicated in The conditional function value is 1 when , otherwise it is 0. Therefore, is the number of moments in the uniform rising stage of the electric lifting platform, is the sum of the speeds of the electric lifting platform at multiple moments during the uniform rising stage. Therefore, It is the average speed of the electric lifting platform during the uniform rising stage. It is the relative deviation between the average speed of the electric lifting platform in the uniform ascent stage and the recommended ascent speed. It is the relative deviation between the average speed of the electric lifting platform in the uniform ascent stage and the ascent control speed. Therefore, the abnormal condition judgment condition C2 indicates that the above two relative deviations are large, that is, the actual ascent speed in the uniform ascent process is greatly different from the recommended value and the control value, indicating that the control of the drive equipment fails and an abnormal condition occurs.

[0098] According to one embodiment of the present invention, in the abnormal condition judgment condition C3, It is the ratio between the number of moments in the uniform ascent stage of the electric lifting platform and the number of moments in the actual ascent process. If this ratio is less than the third preset ratio, it means that the duration of the uniform ascent stage of the electric lifting platform is relatively small, and the electric lifting platform is in an unstable state of non-uniform motion for a large amount of time, which means that the actual ascent process of the electric lifting platform is less stable and an abnormal situation occurs.

[0099] According to one embodiment of the present invention, in the abnormal condition judgment condition C4, It is the relative deviation between the actual number of moments of the ascent process and the predicted number of moments of the ascent process. If the relative deviation is greater than the fourth preset ratio, it means that the actual time of the ascent process seriously deviates from the expectation and an abnormal situation occurs.

[0100] According to an embodiment of the present invention, if any one or more of the above abnormal condition judgment conditions are met, it indicates that an abnormal condition has occurred.

[0101] In this way, four abnormal condition judgment conditions can be set: the driving device is unable to drive the electric lifting platform to rise, the control of the driving device fails, the actual ascent speed of the uniform ascent process is significantly different from the recommended value and the control value, and the actual ascent process time seriously deviates from the expected time. Based on the abnormal condition judgment conditions, it is judged whether the electric lifting platform has an abnormal condition, thereby improving the accuracy and objectivity of the judgment.

[0102] According to one embodiment of the present invention, in step S106, when an abnormal situation occurs, a warning message is generated and sent to the remote control end through a second channel, wherein the second channel is a different channel from the first channel. In particular, if there are multiple warning messages sent simultaneously on the second channel, the warning message related to the abnormal situation judgment condition C1 has the highest sending priority, that is, the warning message that the electric lifting platform cannot rise is sent to the remote control end first.

[0103] According to one embodiment of the present invention, in step S107, the remote control terminal generates an emergency stop command based on the warning message and sends it to the controller through the second channel. In step S108, the controller controls the electric lifting platform to stop urgently according to the emergency stop command for maintenance.

[0104] According to the remote transmission control method of the state data of the electric lifting platform of the embodiment of the present invention, the state control data and monitoring data can be transmitted between the remote control end and the controller of the electric lifting platform through the first channel. The controller can determine the optimal recommended rising speed to improve the transportation efficiency and recommend it to the personnel at the remote control end. After the remote control end selects the rising control speed, the actual rising speed can be monitored in real time, and it can be judged whether an abnormal situation occurs. The warning message can be transmitted through the dedicated second channel, and emergency treatment can be carried out. The channel for transmitting monitoring data and control data is not mixed, and the second channel is kept unblocked at all times, thereby reducing the probability of channel congestion, improving the efficiency of handling abnormal situations, and reducing the danger of abnormal situations. The acceleration rising stage can be divided into two processes: driving with fixed pulling force and driving with fixed power, which is more in line with the actual movement law of the electric lifting platform. When driving with fixed pulling force, the maximum pulling force can be used for driving, which improves the acceleration efficiency and the overall transportation efficiency. When driving with fixed power, the mechanical efficiency is considered to improve the scientificity and accuracy of the calculation. The deceleration and ascent stage can also be divided into two processes: deceleration according to fixed power and deceleration according to fixed pulling force, which is more in line with the actual motion law of the electric lifting platform. The mechanical efficiency can be considered in the process of deceleration according to fixed power to improve the accuracy and scientificity of the calculation. In the process of deceleration according to fixed pulling force, the uniform deceleration motion can be used to reduce the speed of the electric lifting platform to 0, thereby improving the stability of the deceleration process. When setting the constraints, the constraints of the speed optimization model can be set, the total ascent height of the predicted ascent process can be restricted, and the value range of the coefficient to be determined can be restricted. Furthermore, the number of moments experienced in the non-uniform ascent stage and the number of moments experienced in the uniform ascent stage can be restricted to improve the stability of the overall ascent process, reduce the burden on the driving equipment and the mechanical fatigue of the electric lifting platform, and reduce the failure rate of the electric lifting platform. When setting the objective function, the average speed can be set by the load data, so that the total duration of the predicted ascent process obtained by simulation is more in line with expectations, and the duration of the uniform ascent stage can be made as long as possible, and the duration of the non-uniform ascent stage can be made as short as possible, thereby maximizing the overall stability of the ascent process. When setting abnormal condition judgment conditions, four abnormal condition judgment conditions can be set: the driving device cannot drive the electric lifting platform to rise, the control of the driving device fails, the actual ascent speed of the uniform ascent process is significantly different from the recommended value and the control value, and the actual ascent process time seriously deviates from the expected value. Based on the abnormal condition judgment conditions, it is possible to judge whether the electric lifting platform has an abnormal condition, thereby improving the accuracy and objectivity of the judgment.

[0105] Figure 2 A block diagram of a remote transmission control system for state data of an electric lifting platform according to an embodiment of the present invention is exemplarily shown, and the system comprises:

[0106] A first sending module, used for, when the ascending process starts, the remote control terminal sends the number of ascending floors to the controller of the electric lifting platform through the first channel;

[0107] A recommended ascending speed module, used for the controller to determine a recommended ascending speed according to the number of ascending floors, the deadweight data of the electric lifting platform and the load data of the electric lifting platform, and send the recommended ascending speed to the remote control terminal through the first channel;

[0108] An ascending control speed module, used for the remote control end to select an ascending control speed according to the recommended ascending speed, and send the ascending control speed to the controller through the first channel;

[0109] A monitoring module, used for the controller to control the electric lifting platform to rise according to the rising control speed, and to monitor the actual rising speed of the electric lifting platform at multiple moments during the actual rising process;

[0110] an abnormal condition judgment module, used for determining whether an abnormal condition occurs according to the actual ascent speed, the recommended ascent speed and the ascent control speed;

[0111] A warning message module, used for generating a warning message and sending it to the remote control end through a second channel when an abnormal situation occurs, wherein the second channel is a different channel from the first channel;

[0112] A second sending module, used for the remote control terminal to generate an emergency stop command according to the warning message and send it to the controller via a second channel;

[0113] The emergency stop module is used for the controller to control the electric lifting platform to stop urgently according to the emergency stop instruction.

[0114] It should be understood by those skilled in the art that the embodiments of the present invention described above and shown in the accompanying drawings are only examples and do not limit the present invention. The purpose of the present invention has been fully and effectively achieved. The functional and structural principles of the present invention have been demonstrated and explained in the embodiments, and the embodiments of the present invention may be deformed or modified in any way without departing from the principles.

[0115] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A remote transmission control method for status data of an electric lifting platform, characterized in that: include: At the beginning of the ascending process, the remote control terminal sends the number of ascending floors to the controller of the electric lifting platform through the first channel; The controller determines a recommended ascending speed according to the number of ascending floors, the deadweight data of the electric lifting platform, and the load data of the electric lifting platform, and sends the recommended ascending speed to the remote control terminal through the first channel; The remote control terminal selects an ascending control speed according to the recommended ascending speed, and sends the ascending control speed to the controller through the first channel; The controller controls the electric lifting platform to rise according to the rising control speed, and monitors the actual rising speed of the electric lifting platform at multiple moments during the actual rising process; determining whether an abnormal condition occurs according to the actual ascent speed, the recommended ascent speed, and the ascent control speed; In the event of an abnormal situation, generating a warning message and sending it to the remote control terminal via a second channel, wherein the second channel is a different channel from the first channel; The remote control terminal generates an emergency stop command according to the warning message and sends it to the controller via a second channel; The controller controls the electric lifting platform to emergency stop according to the emergency stop instruction; Determining whether an abnormal condition occurs according to the actual ascent speed, the recommended ascent speed, and the ascent control speed includes: Setting an abnormal condition judgment condition according to the actual ascent speed, the recommended ascent speed and the ascent control speed; When any abnormal condition judgment condition is met, determining that an abnormal condition occurs; According to the actual ascent speed, the recommended ascent speed and the ascent control speed, setting abnormal condition judgment conditions includes: According to the formula ， Set abnormal condition judgment conditions C1, C2, C3 and C4, where: is the actual ascent speed at the jth moment of the actual ascent process, is the number of moments of the actual ascent process, is the actual ascent speed at the j-1th moment of the actual ascent process, is the time interval between adjacent moments, is the preset rate of change, is the recommended ascent speed, For the ascent control speed, is the first preset ratio, is the second preset ratio, and is the logical "and" operator, is the third preset ratio, is the fourth preset ratio, To predict the number of moments of the ascent, is the conditional function, j≤ , and j and are all positive integers, conditional function Indicated in In the case of , otherwise 0, conditional function Indicated in The conditional function value is 1 if , otherwise it is 0.

2. The method for remote transmission control of electric lifting platform status data according to claim 1, characterized in that: The controller determines a recommended ascending speed according to the number of ascending floors, the deadweight data of the electric lifting platform, and the load data of the electric lifting platform, and sends the recommended ascending speed to the remote control terminal, including: Determine the ascending distance according to the number of ascending floors; Determine the maximum drive power of the electric lifting platform; Set the pending value of the recommended ascent speed; Determine the acceleration function of the electric lifting platform according to the undetermined value of the recommended ascending speed, the maximum driving power, the deadweight data of the electric lifting platform and the load data of the electric lifting platform; Determine the deceleration function of the electric lifting platform according to the undetermined value of the recommended ascending speed, the deadweight data of the electric lifting platform and the load data of the electric lifting platform; According to the electric lifting platform acceleration function, the electric lifting platform deceleration function and the ascending distance, an optimal solution of an undetermined value of a recommended ascending speed is determined as the recommended ascending speed.

3. The method for remote transmission control of electric lifting platform status data according to claim 2, characterized in that: According to the maximum driving power, the deadweight data of the electric lifting platform and the load data of the electric lifting platform, the acceleration function of the electric lifting platform includes: Set the initial value of the electric lift platform acceleration function , and the end value of the electric lifting platform acceleration function ,in, is the rising speed of the electric lifting platform at the beginning, To predict the number of moments in the acceleration phase of the ascent, In order to predict the rising speed of the electric lifting platform at the end of the accelerated rising stage during the rising process, is the undetermined value of the recommended ascent speed; According to the formula ， Determine the acceleration function of the electric lifting platform, where is the rising speed of the electric lifting platform at the i+1th moment, is the rising speed of the electric lifting platform at the i-th moment, is the maximum pulling force of the electric lifting platform, m is the load data of the electric lifting platform, M is the deadweight data of the electric lifting platform, is the maximum driving power, is the mechanical efficiency of the electric lifting platform, is the first undetermined coefficient, is the time interval between adjacent moments.

4. The method for remote transmission control of state data of an electric lifting platform according to claim 3, characterized in that: According to the undetermined value of the recommended ascending speed, the deadweight data of the electric lifting platform and the load data of the electric lifting platform, a deceleration function of the electric lifting platform is determined, including: Set the initial value of the electric lift platform deceleration function , and the end value of the electric lift platform deceleration function ,in, To predict the sequence number of the end time of the uniform ascent stage during the ascent, To predict the number of moments of the ascent, In order to predict the rising speed of the electric lifting platform at the end of the uniform rising stage during the rising process, To predict the ascending speed of the electric lifting platform at the end of the deceleration ascending stage during the ascending process; According to the formula ， Determine the deceleration function of the electric lifting platform, where is the third undetermined coefficient, is the fourth undetermined coefficient.

5. The method for remote transmission control of state data of an electric lifting platform according to claim 4, characterized in that: Determining an optimal solution of an undetermined value of a recommended ascent speed according to the electric lifting platform acceleration function, the electric lifting platform deceleration function and the ascent distance as the recommended ascent speed includes: Determining the constraint conditions of the speed optimization model according to the electric lifting platform acceleration function, the electric lifting platform deceleration function and the ascending distance; According to the preset average speed, determine the objective function of the speed optimization model; According to the constraints and objective function of the speed optimization model, the optimal solution of the undetermined value of the recommended ascent speed is determined.

6. The method for remote transmission control of electric lifting platform status data according to claim 5, characterized in that: According to the electric lifting platform acceleration function, the electric lifting platform deceleration function and the lifting distance, the constraint conditions of the speed optimization model are determined, including: According to the formula ， ， ， ， ， ， ， ， Determine the constraints of the speed optimization model, where is the second unknown coefficient, and H is the rising distance.

7. The method for remote transmission control of state data of an electric lifting platform according to claim 5, characterized in that: According to the preset average speed, determine the objective function of the speed optimization model, including: According to the formula ， ， Determine the objective function of the speed optimization model, where It is the average speed preset according to the load data.

8. A remote transmission control system for state data of an electric lifting platform for executing the method according to any one of claims 1 to 7, characterized in that: include: A first sending module, used for, when the ascending process starts, the remote control terminal sends the number of ascending floors to the controller of the electric lifting platform through the first channel; A recommended ascending speed module, used for the controller to determine a recommended ascending speed according to the number of ascending floors, the deadweight data of the electric lifting platform and the load data of the electric lifting platform, and send the recommended ascending speed to the remote control terminal through the first channel; An ascending control speed module, used for the remote control end to select an ascending control speed according to the recommended ascending speed, and send the ascending control speed to the controller through the first channel; A monitoring module, used for the controller to control the electric lifting platform to rise according to the rising control speed, and to monitor the actual rising speed of the electric lifting platform at multiple moments during the actual rising process; an abnormal condition judgment module, used for determining whether an abnormal condition occurs according to the actual ascent speed, the recommended ascent speed and the ascent control speed; A warning message module, used for generating a warning message and sending it to the remote control end through a second channel when an abnormal situation occurs, wherein the second channel is a different channel from the first channel; A second sending module, used for the remote control terminal to generate an emergency stop command according to the warning message and send it to the controller via a second channel; The emergency stop module is used for the controller to control the electric lifting platform to stop urgently according to the emergency stop instruction.

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