Crane linkage hoisting method

Abstract

The invention discloses a crane linkage hoisting method, which belongs to the technical field of cranes, and comprises the following steps: presetting a safety distance value; moving to a lifting point and acquiring a displacement distance value; judging the linkage state of the current time point based on a preset safety distance value, the displacement distance value and the dynamic threshold set; determining displacement information based on the linkage state of the current time point; determining second speed regulation information based on the displacement distance value after speed regulation and the safety distance value; and hoisting a hoisted object. The technical effects that it is ensured that the two displacement mechanisms are located at the safe distance, a hoisted object is prevented from inclining in the ascending or descending process, and the safety of hoisting operation is improved are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of cranes, and in particular to a crane linkage hoisting method. Background Art

[0002] When the crane is operating, multiple cranes or multiple motion mechanisms of the crane can be coordinated and controlled to achieve synchronous linkage operation of multiple cranes and multiple mechanisms. The linkage operation can meet the requirements of production operations and effectively improve safety and operating efficiency.

[0003] When cranes are linked, it involves the coordinated control of multiple crane motion mechanisms. When two cranes are linked, a safe distance needs to be maintained to prevent the two sets of displacement mechanisms from interfering with each other during operation and causing accidents. On the other hand, when cranes are linked, the rise and fall of the hoisted objects should be coordinated to prevent the hoisted objects from tilting during the rise or fall process, which may cause accidents. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a crane linkage lifting method, comprising the following steps:

[0005] Preset safety distance value;

[0006] Move to the hanging point and obtain the displacement distance value;

[0007] Based on the preset safety distance value, displacement distance value and dynamic threshold set, determine the linkage status at the current time point;

[0008] Determine the displacement information based on the linkage status at the current time point;

[0009] Determining second speed adjustment information based on the displacement distance value and the safety distance value after speed adjustment;

[0010] Lifting the load.

[0011] In some embodiments, the distance deviation value is calculated as follows: distance deviation value = displacement distance value - safety distance value;

[0012] The linkage status at the current time point includes: normal, slightly abnormal, moderately abnormal, and severely abnormal;

[0013] The dynamic threshold value set refers to a threshold value set used to judge the linkage state of two adjacent displacement mechanisms when they work in linkage;

[0014] Determining the linkage status at the current time point includes:

[0015] Determine the linkage status at the current time point based on the distance deviation value;

[0016] When the distance deviation value is less than the first distance threshold, determining that the current linkage state is normal;

[0017] When the distance deviation value is greater than the first distance threshold and less than the second distance threshold, it is determined that the current linkage state is slightly abnormal;

[0018] When the distance deviation value is greater than the second distance threshold and less than the third distance threshold, it is determined that the current linkage state is moderately abnormal;

[0019] When the distance deviation value is greater than the third distance threshold, it is determined that the current linkage state is severely abnormal.

[0020] In some embodiments, the first distance threshold, the second distance threshold, and the third distance threshold are set based on the operating radius of the current displacement mechanism, specifically in the following manners:

[0021] Determining a first distance threshold based on the operating radius;

[0022] The first distance threshold is calculated as follows:

[0023] dthr=bthr-R·adj

[0024] Among them, dthr is the first distance threshold; bthr is the basic threshold; R is the operating radius; adj is the adjustment coefficient;

[0025] Determine a second distance threshold and a third distance threshold based on the first distance threshold;

[0026] The second distance threshold is calculated as follows:

[0027] xthr=dthr+acd

[0028] Wherein, xthr is the second distance threshold; bthr is the first distance threshold; acd is the adjustment distance;

[0029] The third distance threshold is calculated as follows:

[0030] ythr=dthr+msd

[0031] Among them, ythr is the third distance threshold; bthr is the first distance threshold; msd is the maximum safety distance.

[0032] In some embodiments, the speed adjustment information includes:

[0033] In response to the normal or slight abnormality of the current linkage state, maintain the current running speed;

[0034] In response to a moderate abnormality in a current linkage state, generating first speed adjustment information;

[0035] In response to a severe abnormality in the current linkage state, the system shuts down.

[0036] In some embodiments, generating the first speed adjustment information includes:

[0037] Determine the compensation coefficient based on the distance deviation value and the rated speed of the motor;

[0038] The method for determining the compensation coefficient based on the distance deviation value and the rated speed of the motor is:

[0039] S=l 3 N

[0040] Among them, S is the compensation coefficient, l is the distance deviation value, and N is the rated speed of the motor;

[0041] First speed adjustment information is generated based on the compensation coefficient.

[0042] In some embodiments, generating the first speed adjustment information based on the compensation coefficient includes:

[0043] The operating speeds of the two displacement mechanisms are respectively adjusted based on the compensation coefficient;

[0044] Wherein, adjusting the operating speeds of the two displacement mechanisms includes:

[0045] Assume that among the two displacement mechanisms moving in the same direction, along the moving direction of the displacement mechanisms, the displacement mechanism located in front is the first linkage mechanism, and the displacement mechanism located in the rear is the second linkage mechanism, and the preset speeds of the first linkage mechanism and the second linkage mechanism are the rated speeds;

[0046] (1) If the compensation coefficient is greater than 0, the operating speed of the first linkage mechanism = rated speed × (1-compensation coefficient), and the operating speed of the second linkage mechanism = rated speed × (1+compensation coefficient);

[0047] (2) If the compensation coefficient is less than 0, the operating speed of the first linkage mechanism = rated speed × (1 + compensation coefficient), and the operating speed of the second linkage mechanism = rated speed × (1 - |compensation coefficient|).

[0048] In some embodiments, determining the second speed adjustment information based on the speed adjusted displacement distance value and the safety distance value includes: comparing the speed adjusted displacement distance value with the safety distance value, and generating the second speed adjustment information when the displacement distance value is equal to the safety distance value.

[0049] In some embodiments, the second speed adjustment information includes:

[0050] The running speeds of the two displacement mechanisms are adjusted based on the displacement distance value after speed adjustment and the safety distance value;

[0051] Wherein, the operating speed of the first linkage mechanism = rated speed;

[0052] The operating speed of the second linkage mechanism = rated speed.

[0053] In some embodiments, the hoisting object comprises:

[0054] Preset the first lifting point rising height sequence,

[0055] The first lifting point ascending height sequence is a sequence obtained by arranging the height values ​​of the lifting points in chronological order during normal lifting operations;

[0056] Determine a second suspension point ascending height sequence based on a second suspension point height value at at least one moment;

[0057] The second lifting point height value is a height parameter during crane linkage lifting, and the second lifting point rising height sequence is a sequence obtained by arranging the second lifting point height values ​​at at least one moment in time in chronological order;

[0058] Generate hoisting speed adjustment information based on the second hoisting point rising height sequence, the first hoisting point rising height sequence and the height threshold,

[0059] The height threshold is the value used to determine whether the lifting speed needs to be adjusted.

[0060] In some embodiments, the hoisting speed adjustment information is generated by comparing the second hoisting point rising height sequence and the first hoisting point rising height sequence, determining the hoisting point height deviation value between the second hoisting point height value and the first hoisting point height value at the same working moment, and comparing the hoisting point height deviation value with the height threshold. When the hoisting point height deviation value exceeds the height threshold, the hoisting speed adjustment information is generated;

[0061] The generating of the hoisting speed adjustment information comprises:

[0062] Calculate the hoisting speed based on the hoisting point height deviation value;

[0063] The calculation method of hoisting speed is:

[0064]

[0065] Where, v(k) is the hoisting speed of the kth sampling period; v(k-1) is the hoisting speed of the (k-1)th sampling period; K p is the proportional term; K I is the integral term; K D is the differential term; is the accumulated value of all deviations from the beginning to the current moment; e(k) is the height deviation value of the hanging point in the kth sampling period; e(k-1) is the height deviation value of the hanging point in the k-1th sampling period; T s is the sampling period, that is, the time interval between two consecutive sampling points.

[0066] By adopting the above technical solution, the present invention mainly has the following technical effects:

[0067] By setting the first speed adjustment information to adjust the distance value between the two displacement mechanisms, the distance between the two displacement mechanisms is kept at a safe distance, and based on the second lifting point rising height sequence, the first lifting point rising height sequence and the height threshold, the hoisting speed adjustment information is generated, thereby achieving the technical effect of ensuring that the two displacement mechanisms are at a safe distance, avoiding tilting of the hoisted object during the rising or falling process, and improving the safety of the lifting operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Figure 1 The present invention is a flow chart of a crane linkage lifting method.

[0069] Figure 2 The present invention provides a flow chart for generating first speed adjustment information in a crane linkage hoisting method.

[0070] Figure 3 The present invention provides a flow chart of hoisting a hoisted object in a crane linkage hoisting method. DETAILED DESCRIPTION

[0071] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the specification 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.

[0072] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0073] See also Figure 1-Figure 3 The present invention provides a crane linkage lifting method, comprising the following steps:

[0074] S1, preset safety distance value;

[0075] In some embodiments, the safety distance value refers to the distance value when two adjacent groups of displacement mechanisms are in a safe working environment.

[0076] In some embodiments, the displacement mechanism can be a moving part of the crane installed on the crane track, which can move horizontally along the track to move the entire boom or the crane trolley from one position to another, thereby covering a larger working area. In some embodiments, the displacement mechanism can also be a moving part installed on the boom, which can move horizontally along the track of the boom to move the hook or load within the range of the boom to achieve precise vertical and horizontal positioning.

[0077] In some embodiments, the rated load and actual load of the crane may affect its safe working distance. Heavier loads may require a larger safety distance to prevent the two sets of displacement mechanisms from interfering with each other during operation and causing accidents.

[0078] In some embodiments, the safety distance value may be the distance value between the two groups of displacement mechanisms before displacement occurs, and the distance value may be measured by a laser sensor. In some embodiments, the distance may be measured by installing a laser sensor on the displacement mechanism, emitting laser pulses and receiving reflected light.

[0079] S2, move to the hanging point and obtain the displacement distance value;

[0080] In some embodiments, the displacement mechanism can be moved to the lifting point to lift the heavy objects below.

[0081] In some embodiments, the displacement distance value is the distance value between the two displacement mechanisms when they are displaced.

[0082] In some embodiments, the displacement distance value can be measured by a laser sensor on the displacement mechanism.

[0083] S3. Determine the linkage status at the current time point based on the preset safety distance value, displacement distance value and dynamic threshold value set;

[0084] In some embodiments, the linkage state at the current time point can be determined by calculating a deviation value between the displacement distance value and a preset safety distance value, and comparing the deviation value with a threshold value in a dynamic threshold set.

[0085] In some embodiments, the distance deviation value is calculated as follows: distance deviation value=displacement distance value-safety distance value.

[0086] In some embodiments, the linkage status at the current time point includes: normal, slightly abnormal, moderately abnormal, and severely abnormal.

[0087] In some embodiments, the dynamic threshold set refers to a threshold set used to determine the linkage state of two adjacent displacement mechanisms when they work in linkage. In some embodiments, the dynamic threshold set can be set based on the operating radius of the current displacement mechanism. For example, when the operating radius of the displacement mechanism is larger, the dynamic threshold is smaller. More details about the dynamic threshold will be further described below.

[0088] In some embodiments, determining the linkage status at the current time point includes:

[0089] Determine the linkage status at the current time point based on the distance deviation value;

[0090] When the distance deviation value is less than the first distance threshold, determining that the current linkage state is normal;

[0091] When the distance deviation value is greater than the first distance threshold and less than the second distance threshold, it is determined that the current linkage state is slightly abnormal;

[0092] When the distance deviation value is greater than the second distance threshold and less than the third distance threshold, it is determined that the current linkage state is moderately abnormal;

[0093] When the distance deviation value is greater than the third distance threshold, it is determined that the current linkage state is severely abnormal.

[0094] In some embodiments, the first distance threshold, the second distance threshold, and the third distance threshold can be determined based on a variety of methods, such as pre-setting, setting in combination with confidence level, etc.

[0095] In some embodiments, the first distance threshold, the second distance threshold, and the third distance threshold are set based on the operating radius of the current displacement mechanism, specifically in the following manners:

[0096] Determining a first distance threshold based on the operating radius;

[0097] The first distance threshold is calculated as follows:

[0098] dthr=bthr-R·adj

[0099] Among them, dthr is the first distance threshold; bthr is the basic threshold; R is the operating radius; adj is the adjustment coefficient;

[0100] Determine a second distance threshold and a third distance threshold based on the first distance threshold;

[0101] The second distance threshold is calculated as follows:

[0102] xthr=dthr+acd

[0103] Wherein, xthr is the second distance threshold; dthr is the first distance threshold; acd is the adjustment distance;

[0104] The third distance threshold is calculated as follows:

[0105] ythr=dthr+msd

[0106] Among them, ythr is the third distance threshold; dthr is the first distance threshold; msd is the maximum safe distance;

[0107] In some embodiments, the adjustment coefficient, adjustment distance, and maximum safety distance can be determined by establishing a database based on industry experience, historical data, and other information.

[0108] In some embodiments, the first distance threshold is determined according to the operating radius, and corresponding distance thresholds can be applied to different operating radii, which greatly reduces false alarms caused by the mismatch between the distance threshold and the scene, thereby improving the safety of crane linkage lifting.

[0109] S4, determining displacement information based on the linkage state at the current time point;

[0110] In some embodiments, the displacement information may be generated according to a linkage state at a current time point.

[0111] In some embodiments, the displacement information includes:

[0112] In response to the normal or slight abnormality of the current linkage state, maintain the current running speed;

[0113] In response to a moderate abnormality in a current linkage state, generating first speed adjustment information;

[0114] In response to a severe abnormality in the current linkage state, the system shuts down.

[0115] In some embodiments, the displacement information can be obtained by calculating the deviation value between the displacement distance value and the safety distance value, and comparing the deviation value with the first distance threshold, the second distance threshold and the third distance threshold. When the deviation value is between the second distance threshold and the third distance threshold, the first speed adjustment information is generated.

[0116] In some embodiments, generating the first speed adjustment information includes:

[0117] S401, determining a compensation coefficient based on the distance deviation value and the rated speed of the motor;

[0118] In some embodiments, the distance deviation value = displacement distance value - safety distance value;

[0119] In some embodiments, the compensation coefficient is determined based on the distance deviation value and the rated speed of the motor as follows:

[0120] S=l 3 N

[0121] Among them, S is the compensation coefficient, l is the distance deviation value, and N is the rated speed of the motor;

[0122] Exemplarily, the distance deviation value l is equal to ±0.02m;

[0123] Exemplarily, the rated speed N of the motor is equal to 1400 rpm;

[0124] That is, the compensation coefficient S is equal to ± 0.02 3 ×1400= ± 0.0112.

[0125] S402, generating first speed adjustment information based on the compensation coefficient;

[0126] In some embodiments, generating the first speed adjustment information based on the compensation coefficient includes:

[0127] The operating speeds of the two displacement mechanisms are respectively adjusted based on the compensation coefficient;

[0128] The step of adjusting the operating speeds of the two displacement mechanisms comprises:

[0129] Assume that among the two displacement mechanisms moving in the same direction, along the moving direction of the displacement mechanisms, the displacement mechanism located in front is the first linkage mechanism, and the displacement mechanism located in the rear is the second linkage mechanism, and the preset speeds of the first linkage mechanism and the second linkage mechanism are the rated speeds;

[0130] (1) If the compensation coefficient is greater than 0, the operating speed of the first linkage mechanism = rated speed × (1-compensation coefficient), and the operating speed of the second linkage mechanism = rated speed × (1+compensation coefficient);

[0131] (2) If the compensation coefficient is less than 0, the operating speed of the first linkage mechanism = rated speed × (1 + compensation coefficient), and the operating speed of the second linkage mechanism = rated speed × (1 - |compensation coefficient|).

[0132] For example, when the compensation coefficient S is equal to 0.02 3 ×1400=0.0112, then the running speed of the first linkage mechanism=rated speed×(1-0.0112), and the running speed of the second linkage mechanism=rated speed×(1+0.0112);

[0133] When the compensation coefficient S is equal to -0.023 ×1400=-0.0112, then the running speed of the first linkage mechanism = rated speed × (1+0.0112), the running speed of the second linkage mechanism = rated speed × (1-0.0112);

[0134] In some embodiments, the compensation coefficient value is less than 0.06.

[0135] The reason for the above is that by setting the compensation coefficient value to less than 0.06, the first linkage mechanism and the second linkage mechanism will not experience frequent acceleration and deceleration during operation, making the operation of the first linkage mechanism and the second linkage mechanism more stable and safe.

[0136] In some embodiments, the second distance threshold and the third distance threshold are determined based on the first distance threshold. When the displacement mechanism during crane linkage lifting is within a certain error range, there is no need to stop the machine to generate the first speed adjustment information, thereby improving the working efficiency of the crane linkage lifting; when the displacement mechanism during crane linkage lifting is within the adjustable error range, the movement speed of the displacement mechanism is adjusted according to the speed adjustment information, so that the displacement mechanisms of the crane linkage lifting maintain a safe distance from each other, thereby further enhancing the safety of the crane linkage lifting; when the displacement mechanism during crane linkage lifting is outside the adjustable error range, the possibility of accidents is reduced by adjusting after stopping, thereby improving the safety performance of the crane linkage lifting.

[0137] S5. Determine second speed adjustment information based on the displacement distance value and the safety distance value after speed adjustment;

[0138] The displacement distance value after speed adjustment refers to the distance value between the two groups of displacement mechanisms when operating according to the first speed adjustment information. In some embodiments, the displacement distance value after speed adjustment can be measured by a laser sensor.

[0139] In some embodiments, determining the second speed adjustment information includes: comparing the displacement distance value after speed adjustment with the safety distance value, and generating the second speed adjustment information when the displacement distance value is equal to the safety distance value.

[0140] In some embodiments, the second speed adjustment information includes:

[0141] The running speeds of the two displacement mechanisms are adjusted based on the displacement distance value after speed adjustment and the safety distance value;

[0142] Wherein, the operating speed of the first linkage mechanism = rated speed;

[0143] The operating speed of the second linkage mechanism = rated speed.

[0144] S6. Lifting and hoisting objects;

[0145] In some embodiments, the hoisted object refers to a heavy object waiting to be hoisted by a crane.

[0146] In some embodiments, after the displacement mechanism of the crane linkage lifting is moved to the target location, a plurality of telescopic cylinders connected in sequence up and down can be pulled to extend and retract by winding a wire rope or chain around the drum provided on the displacement mechanism, thereby driving the hook connected to the bottom telescopic cylinder to move up and down in the vertical direction, thereby lifting the lifting object. Of course, by controlling the rotation speed of the drum, the lifting speed of the hook is adjusted to adjust the lifting speed, thereby adjusting the lifting speed.

[0147] In some embodiments, the hoisting object comprises:

[0148] S601, presetting the first suspension point ascending height sequence;

[0149] The first suspension point ascending height sequence is a sequence obtained by arranging the first suspension point height values ​​at at least one moment in time in chronological order, wherein the chronological order may be chronological order or chronological reverse order.

[0150] In some embodiments, the first suspension point height value may be a value representing the height between the suspension point and a fixed reference object, and an exemplary reference object may be the ground or the like.

[0151] In some embodiments, the first hanging point height value can be calculated by setting a laser sensor on the hanging point and obtaining the distance value between the hanging point and the reference object through the laser sensor; in some embodiments, the first hanging point height value can also be calculated by obtaining the distance value between the hanging point and the displacement mechanism through the laser sensor.

[0152] In some embodiments, the first lifting point rising height sequence is a sequence obtained by arranging the height values ​​of the lifting points in time sequence during normal lifting operations. Exemplarily, the first lifting point rising height sequence can be a sequence obtained by arranging the height values ​​of the lifting points when they rise at a uniform speed in time sequence.

[0153] In some embodiments, the first suspension point rising height sequence can be obtained by processing the height value of the suspension point at at least one moment through mathematical fitting, artificial intelligence, etc.

[0154] In some embodiments, the sequence of the first suspension point rising heights may be determined by establishing a database based on industry experience, historical data and other information.

[0155] S602, determining a second suspension point ascending height sequence based on a second suspension point height value at at least one moment;

[0156] The second lifting point height value may be a height parameter during crane linkage lifting, and the second lifting point rising height sequence is a sequence obtained by arranging the second lifting point height values ​​at at least one moment in time in chronological order. For example, the second lifting point rising height sequence includes the second lifting point height value 1, the second lifting point height value 2, the second lifting point height value N, etc. during crane linkage lifting.

[0157] In some embodiments, the second lifting point height value can be measured by a laser sensor during crane linkage lifting.

[0158] S603, generating hoisting speed adjustment information based on the second hoisting point ascending height sequence, the first hoisting point ascending height sequence and the height threshold;

[0159] In some embodiments, the height threshold refers to a value used to determine whether the hoisting speed needs to be adjusted.

[0160] In some embodiments, the hoisting speed adjustment information can be obtained by comparing the second hoisting point rising height sequence and the first hoisting point rising height sequence, determining the hoisting point height deviation value between the second hoisting point height value and the first hoisting point height value after the same hoisting time, and comparing the hoisting point height deviation value with the height threshold. After the hoisting point height deviation value exceeds the height threshold, the hoisting speed adjustment information is generated.

[0161] In some embodiments, when the height deviation value of the suspension point exceeds the height threshold, it means that one of the suspension points is rising too fast / too slow, and there is a risk of tilting of the suspended object.

[0162] In some embodiments, generating the hoisting speed adjustment information includes:

[0163] Calculate the hoisting speed based on the hoisting point height deviation value;

[0164] The calculation method of hoisting speed is:

[0165]

[0166] Where, v(k) is the hoisting speed of the kth sampling period; v(k-1) is the hoisting speed of the (k-1)th sampling period; K p is the proportional term; K I is the integral term; K D is the differential term; is the accumulated value of all deviations from the beginning to the current moment; e(k) is the height deviation value of the hanging point in the kth sampling period; e(k-1) is the height deviation value of the hanging point in the k-1th sampling period; T s is the sampling period, that is, the time interval between two consecutive sampling points.

[0167] In some embodiments, after the hoisting speed adjustment information is generated, the hoisting speed of the hoisting point is adjusted according to the hoisting speed adjustment information, so that the hoisted object rises or falls in a coordinated manner, thereby avoiding the hoisted object from tilting during the rising or falling process and improving the safety of the lifting operation.

[0168] Finally, it should be noted that the embodiments disclosed in the present invention are only preferred embodiments of the present invention, which are only used to illustrate the technical solutions of the present invention rather than to limit them. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A crane linkage lifting method, characterized in that: The following steps are involved: Preset safety distance value; Move to the hanging point and obtain the displacement distance value; Based on the preset safety distance value, displacement distance value and dynamic threshold set, determine the linkage status at the current time point; Determine the displacement information based on the linkage status at the current time point; Determining second speed adjustment information based on the displacement distance value and the safety distance value after speed adjustment; Lifting the load.

2. A crane linkage hoisting method according to claim 1, characterized in that: The distance deviation value is calculated as follows: distance deviation value = displacement distance value - safety distance value; The linkage status at the current time point includes: normal, slightly abnormal, moderately abnormal, and severely abnormal; The dynamic threshold value set refers to a threshold value set used to judge the linkage state of two adjacent displacement mechanisms when they work in linkage; Determining the linkage status at the current time point includes: Determine the linkage status at the current time point based on the distance deviation value; When the distance deviation value is less than the first distance threshold, determining that the current linkage state is normal; When the distance deviation value is greater than the first distance threshold and less than the second distance threshold, it is determined that the current linkage state is slightly abnormal; When the distance deviation value is greater than the second distance threshold and less than the third distance threshold, it is determined that the current linkage state is moderately abnormal; When the distance deviation value is greater than the third distance threshold, it is determined that the current linkage state is severely abnormal.

3. A crane linkage hoisting method according to claim 2, characterized in that: The first distance threshold, the second distance threshold, and the third distance threshold are set based on the operating radius of the current displacement mechanism, and the specific method includes: Determining a first distance threshold based on the operating radius; The first distance threshold is calculated as follows: dthr=bthr-R·adj Among them, dthr is the first distance threshold; bthr is the basic threshold; R is the operating radius; adj is the adjustment coefficient; Determine a second distance threshold and a third distance threshold based on the first distance threshold; The second distance threshold is calculated as follows: xthr=dthr+acd Wherein, xthr is the second distance threshold; bthr is the first distance threshold; acd is the adjustment distance; The third distance threshold is calculated as follows: ythr=dthr+msd Among them, ythr is the third distance threshold; bthr is the first distance threshold; msd is the maximum safety distance.

4. A crane linkage hoisting method according to claim 3, characterized in that: The speed adjustment information includes: In response to the normal or slight abnormality of the current linkage state, maintain the current running speed; In response to a moderate abnormality in a current linkage state, generating first speed adjustment information; In response to a severe abnormality in the current linkage state, the system shuts down.

5. A crane linkage hoisting method according to claim 4, characterized in that: The generating the first speed adjustment information comprises: Determine the compensation coefficient based on the distance deviation value and the rated speed of the motor; The method for determining the compensation coefficient based on the distance deviation value and the rated speed of the motor is: S=l 3 N Among them, S is the compensation coefficient, l is the distance deviation value, and N is the rated speed of the motor; First speed adjustment information is generated based on the compensation coefficient.

6. A crane linkage hoisting method according to claim 5, characterized in that: The generating first speed adjustment information based on the compensation coefficient comprises: The operating speeds of the two displacement mechanisms are respectively adjusted based on the compensation coefficient; Wherein, adjusting the operating speeds of the two displacement mechanisms includes: Assume that among the two displacement mechanisms moving in the same direction, along the moving direction of the displacement mechanisms, the displacement mechanism located in front is the first linkage mechanism, and the displacement mechanism located in the rear is the second linkage mechanism, and the preset speeds of the first linkage mechanism and the second linkage mechanism are the rated speeds; (1) If the compensation coefficient is greater than 0, the operating speed of the first linkage mechanism = rated speed × (1-compensation coefficient), and the operating speed of the second linkage mechanism = rated speed × (1+compensation coefficient); (2) If the compensation coefficient is less than 0, the operating speed of the first linkage mechanism = rated speed × (1 + compensation coefficient), and the operating speed of the second linkage mechanism = rated speed × (1 - |compensation coefficient|).

7. A crane linkage hoisting method according to claim 6, characterized in that: Determining the second speed adjustment information based on the speed-adjusted displacement distance value and the safety distance value includes: comparing the speed-adjusted displacement distance value with the safety distance value, and generating the second speed adjustment information when the displacement distance value is equal to the safety distance value.

8. A crane linkage hoisting method according to claim 7, characterized in that: The second speed adjustment information includes: The running speeds of the two displacement mechanisms are adjusted based on the displacement distance value after speed adjustment and the safety distance value; Wherein, the operating speed of the first linkage mechanism = rated speed; The operating speed of the second linkage mechanism = rated speed.

9. The crane linkage hoisting method according to claim 1, characterized in that: The hoisting objects include: Preset the first lifting point rising height sequence, The first lifting point ascending height sequence is a sequence obtained by arranging the height values ​​of the lifting points in chronological order during normal lifting operations; Determine a second suspension point ascending height sequence based on a second suspension point height value at at least one moment; The second lifting point height value is a height parameter during crane linkage lifting, and the second lifting point rising height sequence is a sequence obtained by arranging the second lifting point height values ​​at at least one moment in time in chronological order; Generate hoisting speed adjustment information based on the second hoisting point rising height sequence, the first hoisting point rising height sequence and the height threshold, The height threshold is the value used to determine whether the lifting speed needs to be adjusted.

10. A crane linkage hoisting method according to claim 9, characterized in that: The hoisting speed adjustment information is generated by comparing the second hoisting point rising height sequence and the first hoisting point rising height sequence, determining the hoisting point height deviation value between the second hoisting point height value and the first hoisting point height value at the same working moment, and comparing the hoisting point height deviation value with the height threshold value. When the hoisting point height deviation value exceeds the height threshold value, the hoisting speed adjustment information is generated; The generating of the hoisting speed adjustment information comprises: Calculate the hoisting speed based on the hoisting point height deviation value; The calculation method of hoisting speed is: Where, v(k) is the hoisting speed of the kth sampling period; v(k-1) is the hoisting speed of the (k-1)th sampling period; K p is the proportional term; K I is the integral term; K D is the differential term; is the accumulated value of all deviations from the beginning to the current moment; e(k) is the height deviation value of the hanging point in the kth sampling period; e(k-1) is the height deviation value of the hanging point in the k-1th sampling period; T s is the sampling period, that is, the time interval between two consecutive sampling points.

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