Control method of lifting platform and lifting system

Abstract

The embodiment of the invention discloses a control method of a lifting platform and a lifting system, and belongs to the field of lifting equipment control. The control method of the lifting platform comprises the steps that after the lifting platform enters a target layer, operation parameters of a controller are obtained, the target layer is a floor where the lifting platform needs to stop, and the operation parameters comprise parameters related to driving of the lifting platform to ascend and descend; and according to the matching condition of the operation parameters and preset braking conditions, the controller and the driver are controlled to brake, so that the lifting platform stops operating. According to the embodiment of the invention, the controller and the driver are braked at the same time, so that after the controller is braked, the driver is not driven any more, after the driver is braked, the lifting platform is not driven any more, stable and accurate parking of the lifting platform is ensured, and the accuracy of the parking position of the lifting platform is improved.

Description

Technical Field

[0001] The present application relates to the field of lifting equipment control, and in particular, to a control method and a lifting system for a lifting platform. Background Art

[0002] Lifting equipment refers to equipment that can be lowered from a high place to a low place or raised from a low place to a high place, such as elevators and lifts. When controlling lifting equipment, it is necessary to accurately control the docking position. For example, a car lift is used to carry a car up or down to the target floor. If the docking position of the car lift is inaccurate, it will make it difficult for the car to move from the car lift to the target floor.

[0003] At present, the counting positioning method is used to determine the floor where the lifting equipment is located, but this method is easily disturbed, resulting in inaccurate counting, which leads to unreliable positioning. Another method is to use encoders and laser ranging to determine the floor where the lifting equipment is located, but for car lifts located outdoors, laser ranging is easily disturbed by strong sunlight, which can easily cause faults such as measurement data position drift, resulting in inaccurate parking position of the car lift. Summary of the invention

[0004] The embodiments of the present application provide a control method and a lifting system for a lifting platform, so as to at least solve the technical problem of inaccurate parking position of the lifting equipment.

[0005] According to a first aspect of an embodiment of the present application, a control method for a lifting platform is provided, which is applied to a lifting platform, wherein the lifting platform is driven to rise and fall by a driver, and the driver is controlled by a controller, and the method includes:

[0006] After the lifting platform enters the target floor, the operating parameters of the controller are obtained, wherein the target floor is the floor where the lifting platform needs to stop, and the operating parameters include parameters related to driving the lifting platform to rise and fall;

[0007] According to the matching condition between the operating parameters and the preset braking conditions, the controller and the driver are both controlled to brake to stop the operation of the lifting platform.

[0008] With this embodiment, since the lifting platform needs to be docked at the target floor, after the lifting platform enters the target floor, the controller and the driver are braked at the same time according to the matching of the operating parameters and the braking conditions, so that after the controller is braked, it no longer has a driving effect on the driver, and after the driver is braked, it no longer has a driving effect on the lifting platform, thereby ensuring the stable and precise docking of the lifting platform and improving the accuracy of the docking position of the lifting platform.

[0009] In combination with the first aspect, in an optional implementation of the embodiment of the present application, the braking condition includes that the operating parameter does not exceed a preset target value;

[0010] According to the matching condition between the operating parameters and the preset braking conditions, controlling both the controller and the driver to brake so as to stop the lifting platform from running comprises:

[0011] If the operating parameter matches the braking condition, the controller and the driver are both controlled to brake to stop the lifting platform.

[0012] With this implementation, when the operating parameters do not exceed the target value, it indicates that the operating parameters match the braking conditions. At this time, the controller and the driver will be braked at the same time to stop the lifting platform. Because the braking condition is to limit the operating parameters to not exceed the target value, when the controller and the driver are braked, it indicates that the operating parameters of the controller are small, which helps to improve the stability of the brake controller and the driver.

[0013] In combination with the first aspect, in an optional implementation of the embodiment of the present application, the controller includes a frequency converter, the operating parameter includes an output frequency of the frequency converter, and the target value includes a minimum output frequency of the frequency converter;

[0014] The method comprises:

[0015] If the output frequency does not exceed the minimum output frequency, it is determined that the operating parameter matches the braking condition, so as to control both the controller and the driver to brake, so as to stop the operation of the lifting platform.

[0016] With this implementation, the output frequency of the inverter affects the rotation speed of the driver. When the output frequency of the inverter does not exceed the minimum output frequency, the inverter and the driver are braked, which helps to improve the braking stability of the inverter and the driver.

[0017] In combination with the first aspect, in an optional implementation manner of the embodiment of the present application, the method further includes:

[0018] In response to the setting instruction for the target layer, the controller is controlled to operate at a starting torque of 1.5 to 2 times of the driver and a starting frequency is determined according to the rated load of the lifting platform, wherein the starting frequency is determined differently for different rated loads of the lifting platform;

[0019] After the output frequency of the controller reaches the starting frequency, the brake of the driver is controlled to be released so that the driver drives the lifting platform to rise or fall. When the brake of the driver is locked, the driver cannot drive the lifting platform to rise or fall. When the brake of the driver is released, the driver can drive the lifting platform to rise or fall.

[0020] With this implementation, after getting the set command, it indicates that the lifting platform needs to be driven from the current floor to the target floor. At this time, the controller is controlled to operate with a starting torque of 1.5-2 times of the driver, so that the driver has enough force to drive the lifting platform, so that the lifting platform is not easy to fall due to insufficient force of the driver at the moment of starting movement, ensuring the stability and position accuracy of the lifting platform.

[0021] In combination with the first aspect, in an optional implementation manner of the embodiment of the present application, the method further includes:

[0022] The greater the rated load of the lifting platform, the greater the starting voltage and starting frequency of the controller; the greater the absolute value of the difference between the target floor and the current floor, the greater the operating frequency of the driver;

[0023] The starting voltage and the starting frequency determine the starting torque, the current floor refers to the floor number where the lifting platform is currently located, and the operating frequency is the output frequency of the driver when the lifting platform moves.

[0024] With this implementation, the larger the target layer, the greater the operating frequency of the driver, and thus the greater the rotation speed of the driver, so that the lifting platform can reach the target layer faster, which is beneficial to improving the lifting efficiency of the lifting platform.

[0025] In combination with the first aspect, in an optional implementation manner of the embodiment of the present application, the method further includes:

[0026] After obtaining the target layer, judging whether each protection item is normal and / or judging whether the simulated operation result of the lifting platform is the same as the actual operation result of the lifting platform, wherein the protection item includes an item for detecting whether the lifting platform is operating normally;

[0027] If any of the protection items is abnormal or the simulation operation result is different from the actual operation result, the controller and the driver are both controlled to brake.

[0028] By adopting this implementation method, when the protection item XOR simulation operation result is different from the actual operation result, the controller and the driver will be controlled to brake, which is beneficial to improve the safety of the lifting platform.

[0029] In combination with the first aspect, in an optional implementation of the embodiment of the present application, the determining whether each protection item is normal includes:

[0030] At least one of judging whether the emergency stop button of the lifting platform is normal, judging whether the chain breaking protection of the lifting platform is normal, judging whether the upper limit protection of the lifting platform is normal, judging whether the lower limit protection of the lifting platform is normal, judging whether the vertical protrusion protection photoelectric switch of the lifting platform is normal, judging whether the disconnection time of the through-beam photoelectric switch of the floor where the lifting platform is located is normal, judging whether the connection time of the through-beam photoelectric switch of the floor where the lifting platform is located is normal, judging whether the controller is overloaded, and judging whether the driver is overloaded;

[0031] And / or, the determining whether the simulated operation result of the lifting platform is the same as the actual operation result of the lifting platform includes:

[0032] Determine whether the simulated position is the same as the actual position, wherein the simulated operation result includes the simulated position and the actual operation result includes the actual position.

[0033] The implementation method is adopted to facilitate the safety assessment of the lifting platform from multiple aspects, thereby improving the safety and stability of the lifting platform.

[0034] According to a second aspect of an embodiment of the present application, there is provided a lifting system, comprising a lifting platform for lifting between multiple floors, a driver for driving the lifting platform to lift, and a controller for controlling the driver;

[0035] The lifting platform is controlled by the lifting platform control method described above.

[0036] In combination with the second aspect, in an optional implementation of the embodiment of the present application, the lifting system further includes a master controller, which is electrically connected to the controller and is used to control the operation of the controller;

[0037] The driver includes a plurality of lifting motors, the controller includes a frequency converter, the frequency converter is electrically connected to the plurality of lifting motors, and the frequency converter is configured to control only one of the lifting motors to be in operation at the same time;

[0038] Each of the lifting motors is provided with an independent brake circuit, and each of the brake circuits is electrically connected to the master controller; the master controller is configured to control the corresponding driver to lock the brake or release the brake by controlling the brake circuit, wherein, when the brake of the driver is locked, the driver cannot drive the lifting platform to rise or fall, and when the brake of the driver is released, the driver can drive the lifting platform to rise or fall.

[0039] By adopting this implementation, the frequency converter can control multiple lifting motors at the same time, which is beneficial to reduce the number of frequency converters and thus reduce the cost of the lifting system.

[0040] In combination with the second aspect, in an optional implementation of the embodiment of the present application, each floor is provided with a beam-type photoelectric switch, each of the beam-type photoelectric switches is electrically connected to the master controller, and the master controller is configured as follows:

[0041] The floor where the lifting platform is located is determined according to the on and off status of the opposing photoelectric switch.

[0042] By adopting this implementation method, by installing a beam-type photoelectric switch on each floor, each floor is provided with a detector that can reflect the position of the lifting platform, so that when determining the floor where the lifting platform is located, it is not easy to be inaccurate due to the abnormality of a beam-type photoelectric switch.

[0043] The technical effect obtained by the above-mentioned second aspect is similar to the technical effect obtained by the corresponding technical means in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is a flow chart of a control method for a lifting platform provided in an embodiment of the present application;

[0045] Figure 2 is a flowchart of the positioning process provided by an embodiment of the present application;

[0046] Figure 3 is a flowchart of the protection process provided by the embodiment of the present application;

[0047] Figure 4 is a schematic diagram of a lifting system provided in an embodiment of the present application;

[0048] Figure 5 It is a schematic diagram of the connection between the PLC and various electronic devices provided in the embodiment of the present application;

[0049] Figure 6 It is a circuit diagram related to the inverter provided in the embodiment of the present application. DETAILED DESCRIPTION

[0050] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0051] It should be understood that the "plurality" mentioned in this article refers to two or more. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second" and so on are used to distinguish between the same items or similar items with basically the same functions and effects. Those skilled in the art can understand that the words "first", "second" and so on do not limit the quantity and execution order, and the words "first", "second" and so on do not limit certain different

[0052] In addition, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to such process, method, product, or apparatus.

[0053] The multi-storey high-speed car lift has a fast lifting speed and a long lifting distance. The traditional counting and positioning method is prone to interference, resulting in inaccurate counting and unreliable positioning. Siemens EPOS dual closed-loop positioning control is adopted, using encoder + laser ranging. Due to the long encoder connection distance and the excessive power of the lifting motor, electromagnetic interference with the coded data is easy to occur. At the same time, the laser ranging in the open-air warehouse around is easily interfered by the strong sunlight, which can easily cause faults such as measurement data position drift and abnormal alarms, as well as long component procurement cycle and high cost.

[0054] Based on this, the present application embodiment provides a control method for a lifting platform, referring to Figure 1 The flowchart of the control method of the lifting platform shown is a schematic diagram, and the method includes the following processing procedures.

[0055] S100: After the lifting platform enters the target layer, the operating parameters of the controller are obtained.

[0056] The target floor is the floor where the lifting platform needs to stop, and the operating parameters include parameters related to driving the lifting platform to rise and fall.

[0057] Specifically, the lifting platform moves in a shaft with a height, and the moving direction includes upward or downward. When the lifting platform moves upward, the lifting platform rises, and when the lifting platform moves downward, the lifting platform falls. Different heights of the shaft correspond to different floors. For ease of understanding, the floors can start from 1st floor and increase one by one. The floor where the lifting platform is located cannot be less than 1st floor and cannot be greater than the top floor.

[0058] The target floor refers to the floor that the lift needs to reach, and the current floor corresponds to the target floor, which refers to the floor the lift is currently on. For example, if the lift is currently on the 2nd floor, the 2nd floor is the current floor, and if the lift needs to move to the 1st floor, the lift needs to descend to the 1st floor.

[0059] The lifting platform is raised or lowered by the driving force of the driver, and the driving force is controlled by the controller. The specific control includes the controller controlling the speed and / or torque of the driver. Among them, the speed of the driver affects the moving speed of the lifting platform, and the torque of the driver affects whether the lifting platform can be driven by the driver. For example, when the torque of the driver is less than the force required by the lifting platform, even if the driver is in operation, the driver cannot drive the lifting platform to move.

[0060] The operating parameters are, for example, the output frequency and output voltage amplitude of the controller, etc., which are not specifically limited in this embodiment.

[0061] S102. According to the matching of the operating parameters with the preset braking conditions, the controller and the driver are controlled to brake to stop the lifting platform.

[0062] The braking condition is related to whether the controller and the driver brake. That is to say, by setting the braking condition, it is possible to determine whether the controller and the driver need to brake when the operating parameters are obtained. Therefore, the braking condition is related to whether the controller and the driver need to brake and the operating parameters. This embodiment does not limit the specific content of the braking condition.

[0063] With this embodiment, since the lifting platform needs to be docked at the target floor, after the lifting platform enters the target floor, the controller and the driver are braked at the same time according to the matching of the operating parameters and the braking conditions, so that after the controller is braked, it no longer has a driving effect on the driver, and after the driver is braked, it no longer has a driving effect on the lifting platform, thereby ensuring the stable and precise docking of the lifting platform and improving the accuracy of the docking position of the lifting platform.

[0064] In a possible embodiment of the present application, the braking condition includes that the operating parameter does not exceed a preset target value.

[0065] The target value should correspond to the operating parameter. For example, if the operating parameter is the output frequency of the controller, the target value should also be a value that represents the output frequency of the controller.

[0066] According to the matching of the operating parameters with the preset braking conditions, the controller and the driver are controlled to brake to stop the lifting platform, including:

[0067] If the operating parameters match the braking conditions, both the controller and the drive are braked to stop the lifting platform.

[0068] When the operating parameters match the braking conditions, it indicates that the operating parameters do not exceed the target value. At this time, both the controller and the drive are controlled to brake.

[0069] With this embodiment, when the operating parameter does not exceed the target value, it indicates that the operating parameter matches the braking condition, and the controller and the driver will be braked at the same time to stop the operation of the lifting platform. Because the braking condition is to limit the operating parameter to not exceed the target value, when the controller and the driver are braked, it indicates that the operating parameter of the controller is small, which helps to improve the stability of the brake controller and the driver.

[0070] Optionally, in an implementation of this embodiment, the controller includes a frequency converter, the operating parameter includes an output frequency of the frequency converter, and the target value includes a minimum output frequency of the frequency converter.

[0071] The minimum output frequency of the frequency converter is related to the frequency converter itself. That is, when the frequency converter is determined, the minimum output frequency is determined. In one embodiment, the minimum output frequency is, for example, 1.5 Hz.

[0072] Methods include:

[0073] If the output frequency does not exceed the minimum output frequency, it is determined that the operating parameters match the braking conditions to control both the controller and the driver to brake so that the lifting platform stops running.

[0074] When the output frequency is equal to or less than the minimum output frequency, the controller and the driver are both braked. The braking method of the controller is, for example, forcing the output value of the controller to 0 or directly powering off the controller, and the braking method of the driver is, for example, controlling the brake locking of the driver, which is not specifically limited in this embodiment.

[0075] With this embodiment, the output frequency of the frequency converter will affect the rotation speed of the driver. When the output frequency of the frequency converter does not exceed the minimum output frequency, the frequency converter and the driver are braked, which helps to improve the braking stability of the frequency converter and the driver.

[0076] Optionally, in an implementation of this embodiment, the method further includes:

[0077] In response to the set instruction for the target layer, the control controller operates at 1.5 to 2 times the starting torque of the drive and determines the starting frequency according to the rated load condition of the lifting platform.

[0078] The rated load of the lifting platform is different, and the determined starting frequency is different. Specifically, after the structure of the lifting platform is determined, the rated load of the lifting platform is determined. Preferably, in an application scenario, an association relationship can be established between different rated loads and corresponding starting frequencies, so that after the lifting platform is determined, the starting frequency can be determined according to the rated load of the lifting platform in the association relationship.

[0079] For ease of understanding, for example, after the user inputs the target layer, the current execution subject can receive the setting instruction and the current execution subject can obtain the target layer according to the setting instruction, thereby controlling the operation of the controller. Preferably, the current execution subject can be a PLC, or other chips or electronic devices with computing and control capabilities, which is not specifically limited in this embodiment.

[0080] After the output frequency of the controller reaches the starting frequency, the brake of the control driver is released to allow the driver to drive the lifting platform to rise or fall.

[0081] When the brake of the driver is locked, the driver cannot drive the lifting platform to rise or fall. When the brake of the driver is released, the driver can drive the lifting platform to rise or fall.

[0082] In this embodiment, after the setting instruction is obtained, it indicates that the lifting platform needs to be driven to move from the current floor to the target floor. At this time, the controller is controlled to operate with a starting torque of 1.5-2 times of the driver, so that the driver has enough force to drive the lifting platform, so that the lifting platform is not easy to fall due to insufficient force of the driver at the moment of starting to move, thereby ensuring the stability and position accuracy of the lifting platform.

[0083] Optionally, in an implementation of this embodiment, the method further includes:

[0084] The greater the rated load of the lifting platform, the greater the starting voltage and starting frequency of the controller; the greater the absolute value of the difference between the target layer and the current layer, the greater the operating frequency of the driver.

[0085] Among them, the starting voltage and the starting frequency determine the starting torque, wherein the current floor refers to the number of floors where the lifting platform is currently located, and wherein the operating frequency is the output frequency of the driver when the lifting platform moves.

[0086] When driving the lifting platform to move, after the voltage of the controller reaches the starting voltage and the output frequency reaches the starting frequency, the brake of the driver is released, so that the driver can drive the lifting platform to rise or fall. The starting voltage and starting frequency will affect the starting torque, so that when the voltage of the controller reaches the starting voltage and the output frequency reaches the starting frequency, the starting torque is 1.5 to 2 times that of the driver.

[0087] For ease of understanding, in one embodiment, when the difference between the target layer and the current layer is greater than or equal to 3 layers, the operating frequency is 87Hz, when the difference between the target layer and the current layer is greater than or equal to 2 layers, the operating frequency is 50Hz, and when the difference between the target layer and the current layer is greater than or equal to 1 layer, the operating frequency is 20Hz. For example, if the current layer is 2 layers, the target layer is 4 layers, and the difference is 2 layers, the operating frequency is determined to be 50Hz, and this embodiment does not specifically limit this.

[0088] With this embodiment, the greater the difference between the target layer and the current layer, the greater the operating frequency, and thus the greater the rotation speed of the driver, so that the lifting platform can reach the target layer faster, which is beneficial to improving the lifting efficiency of the lifting platform.

[0089] Optionally, in an implementation of this embodiment, the method further includes:

[0090] After obtaining the target layer, it is determined whether each protection item is normal and / or whether the simulated operation result of the lifting platform is the same as the actual operation result of the lifting platform.

[0091] Among them, the protection items include items used to detect whether the lifting platform is operating normally or safely.

[0092] For lifting equipment such as lifting platforms, there are various safety protection facilities and various safety monitoring. Both the operation of the safety protection facilities and the safety monitoring can be regarded as protection items, and this embodiment does not make specific limitations on this.

[0093] If any protection item is abnormal or the simulation operation result is different from the actual operation result, both the controller and the drive will be braked.

[0094] Among them, the simulated lifting platform can use simulation technology or 3D modeling technology to simulate the operation of the lifting platform, so that during the actual operation of the lifting platform, the simulated lifting platform will also use the same control method as the actual lifting platform to operate, that is, the simulation and the actual lifting platform adopt the same mechanism to operate.

[0095] By adopting this embodiment, when the XOR simulation operation result of the protection item is different from the actual operation result, the controller and the driver will be controlled to brake, which is beneficial to improving the safety of the lifting platform.

[0096] Optionally, in an implementation of this embodiment, judging whether each protection item is normal includes:

[0097] At least one of judging whether the emergency stop button of the lifting platform is normal, judging whether the chain breaking protection of the lifting platform is normal, judging whether the upper limit protection of the lifting platform is normal, judging whether the lower limit protection of the lifting platform is normal, judging whether the vertical protrusion protection photoelectric switch of the lifting platform is normal, judging whether the disconnection time of the through-beam photoelectric switch of the floor where the lifting platform is located is normal, judging whether the connection time of the through-beam photoelectric switch of the floor where the lifting platform is located is normal, judging whether the controller is overloaded, and judging whether the driver is overloaded;

[0098] And / or, determining whether the simulated operation result of the lifting platform is the same as the actual operation result of the lifting platform, including:

[0099] Determine whether the simulated location is the same as the actual location.

[0100] The simulation operation result includes the simulation position, and the actual operation result includes the actual position.

[0101] The lifting platform has an upper limit position and a lower limit position, that is, the highest point and the lowest point that the lifting platform can reach. In one embodiment, by installing sensors at the upper limit position and the lower limit position, respectively, the upper limit position protection and the lower limit position protection are monitored. If the lifting platform reaches or exceeds the upper limit position, the upper limit protection is abnormal, and if the lifting platform reaches or exceeds the lower limit position, the lower limit protection is abnormal.

[0102] The vertical protrusion protection photoelectric switch is a through-beam photoelectric switch, which irradiates light in the vertical direction and is used to monitor whether the lifting platform or the objects on the lifting platform deviate from the safety area in the horizontal direction. For example, if the car on the car lift deviates to the left or right, the vertical protrusion protection photoelectric switch is abnormal.

[0103] The use of this embodiment is conducive to evaluating the safety of the lifting platform from multiple aspects, thereby improving the safety and stability of the lifting platform.

[0104] Specifically, for ease of understanding, the above method is described by taking a car lift as a lifting platform, a PLC as a current execution subject, a frequency converter as a controller, and a motor as a driver as an example.

[0105] like Figure 2 As shown in the figure, the positioning process includes:

[0106] 1. After the user or other system capable of setting the target layer triggers the target layer lifting and lowering instruction, the PLC executes the target layer lifting and lowering command (i.e., responds to the setting instruction).

[0107] 2. The inverter starts according to the V / F curve. The inverter starts running with a starting torque of 1.5 to 2 times that of the motor. When the output frequency of the inverter reaches the starting frequency, the motor brake is energized and released.

[0108] 3. If the difference between the target layer and the current layer is greater than or equal to 3 layers, the inverter output will run at an ultra-high frequency of 87Hz; if the difference between the target layer and the current layer is greater than or equal to 2 layers, the inverter output will run at a high-speed frequency of 50Hz; if the difference between the target layer and the current layer is greater than or equal to 1 layers, the inverter output will run at a medium-speed frequency of 20Hz.

[0109] 4. When the car lift reaches the target floor, it runs at a low speed, the inverter decelerates and the frequency reaches the minimum output frequency, and the inverter stops outputting.

[0110] 5. The DC braking of the inverter starts, the brake coil of the motor is de-energized and released, causing the motor to lock.

[0111] 6. The car lift is positioned and the contactor between the inverter and the motor is disconnected.

[0112] like Figure 3 As shown, the protection process includes:

[0113] 1. Check whether the emergency stop button is normal;

[0114] 2. Check whether the chain break protection of the elevator is normal;

[0115] 3. Check whether the upper and lower limit protections are normal;

[0116] 4. Check whether the vertical protrusion protection photoelectric of the elevator is normal;

[0117] 5. Calculate whether the disconnection time of the elevator operating floor switch is normal;

[0118] 6. Calculate whether the switch-on time of the elevator operating floor is normal;

[0119] 7. Simulate and calculate the real-time operating position of the elevator, and check whether the simulated position is consistent with the actual position;

[0120] 8. Check whether the inverter or motor is overloaded;

[0121] 9. Are the above 8 safety protections normal? Are the elevator positioning started normally? Are there any abnormal situations?

[0122] 10. Start the emergency stop command;

[0123] 11. Start the emergency stop command, and the inverter starts emergency deceleration;

[0124] 12. The inverter output frequency reaches the low-speed shutdown frequency, and the inverter stops running;

[0125] 13. The DC brake of the inverter starts, the brake coil of the motor is powered off and released, causing the motor to lock;

[0126] 14. The car lift is emergency stopped and an alarm message is output.

[0127] The embodiment of the present application also provides a lifting system, including a lifting platform for lifting between multiple floors, a driver for driving the lifting platform to lift and lower, and a controller for controlling the driver;

[0128] The lifting platform is controlled by the above-mentioned control method for the lifting platform.

[0129] Optionally, in an optional implementation of the embodiment of the present application, the lifting system further includes a master controller, which is electrically connected to the controller and is used to control the operation of the controller;

[0130] The driver includes a plurality of lifting motors, the controller includes a frequency converter, the frequency converter is electrically connected to the plurality of lifting motors, and the frequency converter is configured to control only one lifting motor to be in a running state at the same time;

[0131] Each lifting motor is provided with an independent brake circuit, and each brake circuit is electrically connected to the master controller; the master controller is configured to control the corresponding driver to lock or release the brake by controlling the brake circuit, wherein, when the brake of the driver is locked, the driver cannot drive the lifting platform to rise or fall, and when the brake of the driver is released, the driver can drive the lifting platform to rise or fall.

[0132] By adopting this implementation, the frequency converter can control multiple lifting motors at the same time, which is beneficial to reduce the number of frequency converters and thus reduce the cost of the lifting system.

[0133] Optionally, in an optional implementation of the embodiment of the present application, each floor is provided with a beam-type photoelectric switch, each beam-type photoelectric switch is electrically connected to a master controller, and the master controller is configured as follows:

[0134] The floor where the lifting platform is located is determined based on the on and off status of the opposing photoelectric switch.

[0135] By adopting this implementation method, by installing a beam-type photoelectric switch on each floor, each floor is provided with a detector that can reflect the position of the lifting platform, so that when determining the floor where the lifting platform is located, it is not easy to be inaccurate due to the abnormality of a beam-type photoelectric switch.

[0136] Specifically, for ease of understanding, the above lifting system is described with a car lift as the lifting platform, a PLC as the master controller, a frequency converter as the controller, and a driver including a lifting motor 1, a lifting motor 2 and an outer door motor.

[0137] like Figure 4 Schematic diagram of the lifting system.

[0138] The lifting system has 11 floors, of which the ground floor is the 1st floor. On each floor, a photoelectric switch is installed. The photoelectric switch includes an emitter and a receiver. The emitter emits light and the receiver receives light. When the car lift runs to a certain floor, the light on that floor is blocked by the car lift, and the receiver cannot receive the light, so the position of the car lift can be determined.

[0139] In addition to the opposing light spot switches on each floor, an upper limit sensor is installed on the top surface of the 11th floor, and a lower limit sensor is installed on the bottom surface of the 1st floor. It also includes a left front vertical photoelectric switch, a left rear vertical photoelectric switch, a right front vertical photoelectric switch and a right rear vertical photoelectric switch for monitoring vertical deviation.

[0140] exist Figure 4 There are 5 columns in total, wherein the second column is provided with a lifting motor 1, and the fourth column is provided with a lifting motor 2, and the lifting motor 1 and the lifting motor 2 cannot operate at the same time. The car lift can rotate and translate, for example, rotating and translating from the second column to the first column, and the specific structure is not specifically limited in this embodiment.

[0141] like Figure 5 As shown, the PLC is electrically connected to each electronic device, and the input end of the PLC is used to receive information of the target layer, the output end of the PLC is electrically connected to the inverter, and the PLC controls the operation of the inverter according to the input information and the level signal transmitted by each electronic device.

[0142] like Figure 6 As shown, it is a circuit diagram of the frequency converter INV01 and the lifting motor 1M01, the lifting motor 2MO2 and the outer door motor M03. Among them, the frequency converter is electrically connected to the lifting motor 1, the lifting motor 2 and the outer door motor, and the three motors are controlled by one frequency converter. A first contactor KM01a is provided on the connection circuit between the lifting motor 1 and the frequency converter, a second contactor KM02a is provided on the connection circuit between the lifting motor 2 and the frequency converter, and a third contactor KM03a is provided on the connection circuit between the outer door motor and the frequency converter. The contactor is used to control the circuit between the frequency converter and the corresponding motor, so as to ensure that only one motor is in operation at the same time.

[0143] In the above-mentioned embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The steps shown in the relevant flow chart can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flow chart, in some cases, the steps shown or described can be executed in an order different from that here. In other words, the order of steps described in the foregoing embodiments is only an example, and it is also within the scope of protection of the embodiments of the present application to reasonably adjust the order of steps based on the content of the embodiments of the present application.

[0144] The sequence of serial numbers or introduction of the embodiments of the present application is for description only and does not represent the superiority or inferiority of the embodiments.

[0145] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access, or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a digital versatile disc (DVD)), or a semiconductor medium (e.g., a solid state disk (SSD)). It is worth noting that the computer-readable storage medium mentioned in the embodiment of the present application may be a non-volatile storage medium, in other words, a non-transient storage medium.

[0146] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data for analysis, stored data, displayed data, etc.) and signals involved in the embodiments of this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions. For example, the scene data of the current frame in the three-dimensional virtual scene, the device information of the client, and the scene interaction information involved in the embodiments of this application are all obtained with full authorization.

[0147] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A control method for a lifting platform, characterized in that: Applied to a lifting platform, the lifting platform is driven to rise and fall by a driver, the driver is controlled by a controller, and the method includes: After the lifting platform enters the target floor, the operating parameters of the controller are obtained, wherein the target floor is the floor where the lifting platform needs to stop, and the operating parameters include parameters related to driving the lifting platform to rise and fall; According to the matching condition between the operating parameters and the preset braking conditions, the controller and the driver are both controlled to brake to stop the operation of the lifting platform.

2. The control method of the lifting platform according to claim 1, characterized in that: The braking condition includes that the operating parameter does not exceed a preset target value; According to the matching condition between the operating parameters and the preset braking conditions, controlling both the controller and the driver to brake so as to stop the lifting platform from running comprises: If the operating parameter matches the braking condition, the controller and the driver are both controlled to brake to stop the lifting platform.

3. The control method of the lifting platform according to claim 2, characterized in that: The controller includes a frequency converter, the operating parameter includes an output frequency of the frequency converter, and the target value includes a minimum output frequency of the frequency converter; The method comprises: If the output frequency does not exceed the minimum output frequency, it is determined that the operating parameter matches the braking condition, so as to control both the controller and the driver to brake, so as to stop the operation of the lifting platform.

4. The control method of the lifting platform according to claim 1, characterized in that: The method further comprises: In response to the setting instruction for the target layer, the controller is controlled to operate at a starting torque of 1.5 to 2 times of the driver and a starting frequency is determined according to the rated load of the lifting platform, wherein the starting frequency is determined differently for different rated loads of the lifting platform; After the output frequency of the controller reaches the starting frequency, the brake of the driver is controlled to be released so that the driver drives the lifting platform to rise or fall. When the brake of the driver is locked, the driver cannot drive the lifting platform to rise or fall. When the brake of the driver is released, the driver can drive the lifting platform to rise or fall.

5. The control method of the lifting platform according to claim 4, characterized in that: The method further comprises: The greater the rated load of the lifting platform, the greater the starting voltage and starting frequency of the controller; the greater the absolute value of the difference between the target floor and the current floor, the greater the operating frequency of the driver; The starting voltage and the starting frequency determine the starting torque, the current floor refers to the floor number where the lifting platform is currently located, and the operating frequency is the output frequency of the driver when the lifting platform moves.

6. The control method of the lifting platform according to any one of claims 1 to 5, characterized in that: The method further comprises: After obtaining the target layer, judging whether each protection item is normal and / or judging whether the simulated operation result of the lifting platform is the same as the actual operation result of the lifting platform, wherein the protection item includes an item for detecting whether the lifting platform is operating normally; If any of the protection items is abnormal or the simulation operation result is different from the actual operation result, the controller and the driver are both controlled to brake.

7. The control method of the lifting platform according to claim 6, characterized in that: The step of judging whether each protection item is normal includes: At least one of judging whether the emergency stop button of the lifting platform is normal, judging whether the chain breaking protection of the lifting platform is normal, judging whether the upper limit protection of the lifting platform is normal, judging whether the lower limit protection of the lifting platform is normal, judging whether the vertical protrusion protection photoelectric switch of the lifting platform is normal, judging whether the disconnection time of the through-beam photoelectric switch of the floor where the lifting platform is located is normal, judging whether the connection time of the through-beam photoelectric switch of the floor where the lifting platform is located is normal, judging whether the controller is overloaded, and judging whether the driver is overloaded; And / or, the determining whether the simulated operation result of the lifting platform is the same as the actual operation result of the lifting platform includes: Determine whether the simulated position is the same as the actual position, wherein the simulated operation result includes the simulated position and the actual operation result includes the actual position.

8. A lifting system, characterized in that: The invention comprises a lifting platform for lifting between multiple floors, a driver for driving the lifting platform to lift and lower, and a controller for controlling the driver; The lifting platform is controlled by the lifting platform control method according to any one of claims 1 to 7.

9. The lifting system according to claim 8, characterized in that: The lifting system further comprises a master controller, which is electrically connected to the controller and is used to control the operation of the controller; The driver includes a plurality of lifting motors, the controller includes a frequency converter, the frequency converter is electrically connected to the plurality of lifting motors, and the frequency converter is configured to control only one of the lifting motors to be in operation at the same time; Each of the lifting motors is provided with an independent brake circuit, and each of the brake circuits is electrically connected to the master controller; the master controller is configured to control the corresponding driver to lock the brake or release the brake by controlling the brake circuit, wherein, when the brake of the driver is locked, the driver cannot drive the lifting platform to rise or fall, and when the brake of the driver is released, the driver can drive the lifting platform to rise or fall.

10. The lifting system according to claim 9, characterized in that: Each floor is provided with a beam-type photoelectric switch, each of which is electrically connected to the master controller, which is configured as follows: The floor where the lifting platform is located is determined according to the on and off status of the opposing photoelectric switch.

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