A control method and system of a hoisting mechanism, an electronic device and a storage medium

Abstract

The application discloses a control method and system of a winding mechanism, an electronic device and a storage medium, and belongs to the technical field of engineering machinery control technology. The control method of the winding mechanism comprises the following steps: determining the current load of the winding mechanism by using the weight detection device; determining the current winding working condition when the winding brake is in a released state; if the current winding working condition is a first working condition, determining a first driving mode according to a battery capacity remaining value, and controlling the output torque of the hydraulic motor and / or the electric motor according to the first driving mode; and if the current winding working condition is a second working condition, determining the winding acceleration by using the rotating speed detection device, determining a second driving mode according to the winding acceleration, and controlling the output torque of the hydraulic motor and / or the electric motor according to the second driving mode. The application can reasonably control the torque of the winding mechanism.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery control, and particularly relates to a control method and system of a hoisting mechanism, an electronic device and a storage medium. BACKGROUND

[0002] The hoisting mechanism is a mechanical device for lifting or lowering heavy objects. In the related art, an oil-electric dual-drive hoisting mechanism including a motor and a hydraulic motor is used. However, the oil-electric dual-drive hoisting mechanism directly determines whether to control the output torque of the motor according to the remaining battery capacity during work, which results in low work efficiency, poor stability, and high power consumption.

[0003] Therefore, how to reasonably control the torque of the hoisting mechanism is a technical problem to be solved by those skilled in the art. SUMMARY

[0004] The present application provides a control method and system of a hoisting mechanism, an electronic device and a storage medium, which can reasonably control the torque of the hoisting mechanism.

[0005] To solve the above technical problems, the present application provides a control method of a hoisting mechanism, the hoisting mechanism including a hydraulic motor, a motor, a hoisting brake, a weight detection device and a rotational speed detection device, the control method of the hoisting mechanism including:

[0006] determining the current load of the hoisting mechanism by using the weight detection device;

[0007] when the hoisting brake is in a released state, determining the current hoisting working condition;

[0008] if the current hoisting working condition is a first working condition, determining a first driving mode according to a battery capacity remaining value, and controlling the output torque of the hydraulic motor and / or the motor according to the first driving mode; wherein in the first working condition, the hoisting mechanism performs a lifting action and the current load is less than or equal to a first threshold value;

[0009] if the current hoisting working condition is a second working condition, determining a hoisting acceleration by using the rotational speed detection device, determining a second driving mode according to the hoisting acceleration, and controlling the output torque of the hydraulic motor and / or the motor according to the second driving mode; wherein in the second working condition, the hoisting mechanism performs a lifting action, the current load is greater than the first threshold value and less than a second threshold value; and the second threshold value is greater than the first threshold value.

[0010] Optionally, after determining the current load of the hoisting mechanism by using the weight detection device, the method further includes:

[0011] If the current load is greater than or equal to the second threshold value, before the winch brake enters the release state, the motor is controlled to pre-torque, and the displacement of a main pump connected with the hydraulic motor is adjusted to a maximum value;

[0012] A pilot pressure value of the winch mechanism is determined;

[0013] When the pilot pressure value is greater than a critical value, the winch brake is controlled to enter the release state, and the motor and the hydraulic motor are both controlled to output a maximum torque.

[0014] Optionally, the first driving mode is determined according to a battery capacity remaining value, including:

[0015] If the battery capacity remaining value is less than an electricity threshold value, the hydraulic driving mode is set as the first driving mode;

[0016] If the battery capacity remaining value is greater than or equal to the electricity threshold value, a low-load electric driving mode is set as the first driving mode;

[0017] Correspondingly, the hydraulic motor and / or the motor are controlled to output torque according to the first driving mode, including:

[0018] If the first driving mode is the hydraulic driving mode, the hydraulic motor is controlled to output torque;

[0019] If the first driving mode is the low-load electric driving mode, the hydraulic motor and the motor are controlled to output torque, and the displacement of a main pump connected with the hydraulic motor is adjusted to a minimum value.

[0020] Optionally, the second driving mode is determined according to the winch acceleration, including:

[0021] If the winch acceleration is greater than or equal to a first acceleration threshold value and the winch speed is less than a first speed threshold value, a low-speed high-torque starting mode is set as the second driving mode; wherein the first acceleration threshold value is greater than 0;

[0022] If the winch acceleration is greater than or equal to the first acceleration threshold value and the winch speed is greater than or equal to the first speed threshold value, an acceleration mode is set as the second driving mode;

[0023] If the winch acceleration is less than or equal to a second acceleration threshold value, a deceleration mode is set as the second driving mode; wherein the second acceleration threshold value is less than 0;

[0024] if the winch acceleration is less than the first acceleration threshold and greater than the second acceleration threshold, determining whether a battery capacity remaining value is less than an electric quantity threshold; if yes, setting the hydraulic drive mode as the second drive mode; if no, setting a medium load energy saving mode as the second drive mode;

[0025] Correspondingly, controlling the hydraulic motor and / or the electric motor to output torque according to the second drive mode comprises:

[0026] if the second drive mode is the low-speed high-torque starting mode, controlling the hydraulic motor and the electric motor to output torque according to a first torque distribution strategy; wherein under the first torque distribution strategy, the torque output by the hydraulic motor is greater than the torque output by the electric motor;

[0027] if the second drive mode is the acceleration mode, controlling the hydraulic motor and the electric motor to output torque according to a second torque distribution strategy; wherein under the second torque distribution strategy, the torque output by the hydraulic motor is less than the torque output by the electric motor;

[0028] if the second drive mode is the deceleration mode, controlling the hydraulic motor to output torque;

[0029] if the second drive mode is the hydraulic drive mode, controlling the hydraulic motor to output torque;

[0030] if the second drive mode is the medium load energy saving mode, controlling the hydraulic motor and the electric motor to output torque according to the second torque distribution strategy.

[0031] Optionally, the method further comprises:

[0032] if the current winch working condition is a third working condition, controlling the hydraulic motor and the electric motor to output torque according to the first torque distribution strategy; wherein under the third working condition, the winch mechanism performs a lowering action, the winch acceleration is greater than or equal to the first acceleration threshold, and the winch speed is less than the first speed threshold;

[0033] if the current winch working condition is a fourth working condition, controlling the hydraulic motor and the electric motor to output torque according to the second torque distribution strategy; wherein under the fourth working condition, the winch mechanism performs a lowering action, the winch acceleration is greater than or equal to the first acceleration threshold, and the winch speed is greater than or equal to the first speed threshold;

[0034] if the current winch working condition is a fifth working condition, controlling the hydraulic motor to output torque; wherein under the fifth working condition, the winch mechanism performs a lowering action, and the winch acceleration is less than or equal to the second acceleration threshold.

[0035] if the current hoisting working condition is a sixth working condition, adjusting the displacement of the main pump connected with the hydraulic motor to a minimum value, and controlling the hoisting mechanism to perform brake energy recovery operation; wherein, in the sixth working condition, the hoisting mechanism performs lowering action, the hoisting acceleration is less than the first acceleration threshold value, and the hoisting acceleration is greater than a second acceleration threshold value.

[0036] Optionally, the hoisting mechanism further comprises a coupling mechanism connected with the output shaft of the electric motor and the output shaft of the hydraulic motor respectively, and the coupling mechanism is used to output the total torque output by the electric motor and the hydraulic motor to the winding drum of the hoisting mechanism.

[0037] Optionally, further comprising:

[0038] determining the hoisting action type of the hoisting mechanism according to the rotation direction of the hydraulic motor and / or the electric motor; wherein, the hoisting action type comprises lifting action and lowering action.

[0039] The application further provides a hoisting mechanism control system, the hoisting mechanism comprising a hydraulic motor, an electric motor, a hoisting brake, a weight detection device and a rotation speed detection device, the hoisting mechanism control system comprising:

[0040] a load detection module, used to determine the current load of the hoisting mechanism by using the weight detection device;

[0041] a working condition determination module, used to determine the current hoisting working condition when the hoisting brake is in a released state;

[0042] a first control module, used to determine a first driving mode according to the remaining battery capacity value if the current hoisting working condition is a first working condition, and control the hydraulic motor and / or the electric motor to output torque according to the first driving mode; wherein, in the first working condition, the hoisting mechanism performs lifting action and the current load is less than or equal to a first threshold value;

[0043] a second control module, used to determine the hoisting acceleration by using the rotation speed detection device if the current hoisting working condition is a second working condition, determine a second driving mode according to the hoisting acceleration, and control the hydraulic motor and / or the electric motor to output torque according to the second driving mode; wherein, in the second working condition, the hoisting mechanism performs lifting action, the current load is greater than the first threshold value and less than a second threshold value; and the second threshold value is greater than the first threshold value.

[0044] The application further provides a storage medium having a computer program stored thereon, the computer program being used to implement the steps of the hoisting mechanism control method.

[0045] The application also provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor invokes the computer program in the memory to implement the steps of the control method of the hoist mechanism.

[0046] The application discloses a control method of a hoist mechanism. The hoist mechanism applied to the method comprises a hydraulic motor, an electric motor, a hoist brake, a weight detection device and a rotating speed detection device. In the working process of the hoist mechanism, the current load of the hoist mechanism is determined by using the weight detection device, and the current hoist working condition is determined based on the current load and the type of the action performed by the hoist mechanism. If the hoist mechanism is in a first working condition of performing the up action and the current load is less than or equal to a first threshold value, a first driving mode is determined according to the remaining value of the battery capacity, and then the output torque of the hydraulic motor and / or the electric motor is controlled according to the first driving mode. If the hoist mechanism is in a second working condition of performing the up action, the current load is greater than the first threshold value and less than a second threshold value, the hoist acceleration is determined by using the rotating speed detection device, the second driving mode is determined according to the hoist acceleration, and then the output torque of the hydraulic motor and / or the electric motor is controlled according to the second driving mode. The above process can set the output torque of the hydraulic motor and / or the electric motor on the basis of comprehensively considering multiple parameters such as the load, the battery capacity and the acceleration, and is beneficial to improving the working efficiency, stability and energy saving property of the hoist mechanism. Therefore, the application can reasonably control the torque of the hoist mechanism. The application also provides a control system of a hoist mechanism, a storage medium and an electronic device, which have the above beneficial effects and will not be described here. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the application, the drawings needed in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0048] Figure 1 A flow chart of the control method of the hoist mechanism provided by the embodiments of the application;

[0049] Figure 2 A structural schematic diagram of the control system of the hoist mechanism provided by the embodiments of the application. DETAILED DESCRIPTION

[0050] In order to make the purposes, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort should fall into the scope of protection of the present application.

[0051] Please see the following Figure 1 , Figure 1 A flowchart of a control method of a hoisting mechanism provided by the embodiments of the present application.

[0052] The specific steps can include:

[0053] S101: determining the current load of the hoisting mechanism by using the weight detection device.

[0054] The hoisting mechanism includes a control device, a hydraulic motor, an electric motor, a hoisting brake, a weight detection device, and a rotating speed detection device. The control method of the hoisting mechanism provided by the embodiments of the present application can be implemented based on the control device. The hydraulic motor, the electric motor, the hoisting brake, the weight detection device, and the rotating speed detection device are all connected to the control device.

[0055] The hydraulic motor is arranged at the power input end of the hoisting mechanism, and is used to drive the rotation of the drum of the hoisting mechanism to realize the lifting and lowering of the load. The hydraulic motor is connected to a main pump (i.e., a hydraulic main pump) and a control valve through a hydraulic pipeline. The hydraulic main pump provides pressure oil, and the control valve is used to adjust the rotating speed and direction of the hydraulic motor. The electric motor is also arranged at the power input end of the hoisting mechanism, and is used to drive the rotation of the drum of the hoisting mechanism to realize the lifting and lowering of the load. The electric motor is connected to a power source or a storage battery through a cable, and the electric motor is driven to rotate by electric energy. The hoisting brake can be arranged on the drum or a transmission shaft. When the hoisting brake is in a locking state, the drum is locked to prevent the movement of the load. When the hoisting brake is in a releasing state, the drum is allowed to rotate. The weight detection device can be arranged on the drum, and is used to detect the weight of the current load. The rotating speed detection device can be arranged on the drum, and is used to detect the rotating speed (i.e., the hoisting speed) and the acceleration (i.e., the hoisting acceleration) of the drum.

[0056] The embodiments of the present application can receive the weight detection signal transmitted by the weight detection device, and then determine the current load of the hoisting mechanism based on the weight detection signal. The embodiments of the present application can execute S101 according to a preset period to update the current load of the hoisting mechanism.

[0057] As a feasible implementation, the winding mechanism can further comprise a coupling mechanism connected with the output shaft of the electric motor and the output shaft of the hydraulic motor respectively, and the coupling mechanism is configured to output the total torque output by the electric motor and the hydraulic motor to the winding drum of the winding mechanism.

[0058] S102: When the winding brake is in the released state, the current winding working condition is determined.

[0059] Before this step, the state of the winding brake can be detected. If the winding brake is in the locked state, the step S102 is entered again after a certain time delay. If the winding brake is in the released state, it means that the winding drum is allowed to rotate at present, so that the winding mechanism can start to perform the lifting or lowering operation.

[0060] When the winding brake is in the released state, the current winding working condition can be determined. The current winding working condition can be determined according to any one or a combination of the type of winding action (lifting action or lowering action) currently performed by the winding mechanism, the current load, the winding acceleration and the winding speed.

[0061] Further, the winding action type of the winding mechanism can be determined according to the rotation direction of the hydraulic motor and / or the electric motor, wherein the winding action type comprises a lifting action and a lowering action.

[0062] For example, if the winding mechanism performs the lifting action and the current load is less than or equal to a first threshold value, it is determined that the current winding working condition is a first working condition. If the winding mechanism performs the lifting action, the current load is greater than the first threshold value and less than a second threshold value, it is determined that the current winding working condition is a second working condition. If the winding mechanism performs the lowering action, the winding acceleration is greater than or equal to a first acceleration threshold value, and the winding speed is less than a first speed threshold value, it is determined that the current winding working condition is a third working condition. If the winding mechanism performs the lowering action, the winding acceleration is greater than or equal to the first acceleration threshold value, and the winding speed is greater than or equal to the first speed threshold value, it is determined that the current winding working condition is a fourth working condition. If the winding mechanism performs the lowering action, the winding acceleration is less than or equal to the second acceleration threshold value, it is determined that the current winding working condition is a fifth working condition. If the winding mechanism performs the lowering action, the winding acceleration is less than the first acceleration threshold value, and the winding acceleration is greater than the second acceleration threshold value, it is determined that the current winding working condition is a sixth working condition. If the current load is greater than or equal to the second threshold value, it is determined that the current winding working condition is a seventh working condition.

[0063] S103: If the current winding working condition is the first working condition, a first driving mode is determined according to the remaining value of the battery capacity, and the hydraulic motor and / or the electric motor output torque is controlled according to the first driving mode.

[0064] In the first working condition, the hoisting mechanism performs the lifting action, and the current load is less than or equal to a first threshold value; in the first working condition, the load is small, and therefore the first driving mode can be determined according to the battery capacity remaining value, the first driving mode defining the torque output mode of the hoisting mechanism in the current hoisting working condition, and the hydraulic motor and / or the electric motor can be controlled to output torque in the first driving mode. Before the hydraulic motor and / or the electric motor are controlled to output torque, the hoisting brake can be controlled to enter the released state.

[0065] The battery management system can be used to determine the battery capacity remaining value (i.e., the remaining power), and the hydraulic motor and / or the electric motor can be controlled to output torque according to the battery capacity remaining value. Specifically, the hydraulic motor and the electric motor can be controlled to jointly output torque when the battery capacity remaining value is high, the hydraulic motor can be controlled to output torque and the electric motor can be controlled not to output torque when the battery capacity remaining value is low, and the electric motor can be controlled to output torque and the hydraulic motor can be controlled not to output torque when the battery capacity remaining value is high and the hydraulic motor needs to be overhauled.

[0066] As a feasible implementation, the first driving mode is determined according to the battery capacity remaining value in this step, including: if the battery capacity remaining value is less than a power threshold value, the hydraulic driving mode is set as the first driving mode; and if the battery capacity remaining value is greater than or equal to the power threshold value, the low-load electric driving mode is set as the first driving mode.

[0067] Correspondingly, the process of controlling the hydraulic motor and / or the electric motor to output torque in the first driving mode includes:

[0068] If the first driving mode is the hydraulic driving mode, the hydraulic motor is controlled to output torque.

[0069] If the first driving mode is the low-load electric driving mode, the hydraulic motor and the electric motor are controlled to output torque, and the displacement of the main pump connected to the hydraulic motor is adjusted to the minimum value.

[0070] S104: If the current hoisting working condition is a second working condition, the hoisting acceleration is determined by using the rotation speed detection device, the second driving mode is determined according to the hoisting acceleration, and the hydraulic motor and / or the electric motor are controlled to output torque in the second driving mode.

[0071] In the second working condition, the hoisting mechanism performs the lifting action, the current load is greater than the first threshold value and less than a second threshold value, and the second threshold value is greater than the first threshold value.

[0072] In the second working condition, the load is large, and therefore the second driving mode can be determined according to the hoisting acceleration. In the second driving mode, the torque output mode of the hoisting mechanism in the current hoisting working condition is specified, and the hydraulic motor and / or the electric motor can be controlled to output torque according to the second driving mode. The hoisting acceleration is used to describe the rate of change of the hoisting speed, and the hoisting speed is used to describe the rotating speed of the winding drum or the speed of lifting or lowering the load.

[0073] Specifically, the hoisting speed can be detected in real time by the rotating speed detection device, and the change amount of the hoisting speed per unit time can be calculated to determine the hoisting acceleration. The torque output can be adjusted according to the hoisting acceleration to ensure that the hoisting mechanism can operate efficiently and stably under different loads and operating states.

[0074] For example, when the hoisting acceleration is small, only the hydraulic motor can be controlled to output torque, and the electric motor can be controlled not to output torque; when the hoisting acceleration is large, the hydraulic motor and the electric motor can be controlled to output torque together, and the proportion of the torque output by the hydraulic motor and the electric motor can be set based on the second driving mode.

[0075] The hoisting mechanism to which the embodiment is applied includes a hydraulic motor, an electric motor, a hoisting brake, a weight detection device, and a rotating speed detection device. During the operation of the hoisting mechanism, the current load of the hoisting mechanism is determined by the weight detection device, and the current hoisting working condition is determined based on the current load and the type of action performed by the hoisting mechanism. When the hoisting mechanism is in a first working condition in which the action performed is lifting and the current load is less than or equal to a first threshold value, a first driving mode is determined according to the remaining battery capacity, and then the hydraulic motor and / or the electric motor are controlled to output torque according to the first driving mode. When the hoisting mechanism is in a second working condition in which the action performed is lifting, the current load is greater than the first threshold value and less than a second threshold value, the hoisting acceleration is determined by the rotating speed detection device, the second driving mode is determined according to the hoisting acceleration, and then the hydraulic motor and / or the electric motor are controlled to output torque according to the second driving mode. The above process can set the torque output by the hydraulic motor and / or the electric motor based on the comprehensive consideration of multiple parameters such as load, battery capacity, and acceleration, which is beneficial to improve the working efficiency, stability, and energy saving of the hoisting mechanism. Therefore, the torque of the hoisting mechanism can be reasonably controlled.

[0076] As for the Figure 1Further to the corresponding embodiment, after determining the current load of the hoisting mechanism by using the weight detection device, if the current load is greater than or equal to the second threshold value, before the hoisting brake enters the release state, the motor is controlled to pre-torque, and the displacement of the main pump connected with the hydraulic motor is adjusted to the maximum value; the pilot pressure value of the hoisting mechanism is determined; when the pilot pressure value is greater than a critical value, the hoisting brake is controlled to enter the release state, and the motor and the hydraulic motor are both controlled to output the maximum torque.

[0077] The pre-torque of the motor refers to the operation of controlling the rotating speed of the motor to be 0 but the torque to be not 0. The pilot pressure refers to the pressure of the pilot pipeline in the hydraulic system, and the pilot pipeline is used to control the action of the hydraulic valve and other hydraulic elements. When the pressure value is greater than the critical value, the hoisting brake is controlled to enter the release state, and the motor and the hydraulic motor are both controlled to output the maximum torque, which can ensure that the hoisting mechanism is started quickly and sufficient power is provided when needed.

[0078] The embodiment can ensure that the maximum torque is provided quickly at the moment when the brake is released, improve the response speed and stability of the system, optimize the energy utilization efficiency, and enhance the performance and reliability of the hoisting mechanism under high load working conditions.

[0079] As for the Figure 1 Further to the corresponding embodiment, the operation of determining the second driving mode according to the hoisting acceleration can include the following cases:

[0080] Case 1: if the hoisting acceleration is greater than or equal to a first acceleration threshold value and the hoisting speed is less than a first speed threshold value, a low-speed high-torque starting mode is set as the second driving mode; wherein the first acceleration threshold value is greater than 0.

[0081] Correspondingly, if the second driving mode is the low-speed high-torque starting mode, the process of controlling the output torque according to the second driving mode includes: controlling the output torque of the hydraulic motor and the motor according to a first torque distribution strategy; wherein under the first torque distribution strategy, the torque output by the hydraulic motor is greater than the torque output by the motor. The first torque distribution strategy is a strategy of controlling the torque output by the hydraulic motor to be greater than the torque output by the motor.

[0082] Case 2: if the hoisting acceleration is greater than or equal to the first acceleration threshold value and the hoisting speed is greater than or equal to the first speed threshold value, an acceleration mode is set as the second driving mode.

[0083] Correspondingly, if the second driving mode is the acceleration mode, the process of controlling the output torque according to the second driving mode comprises: controlling the hydraulic motor and the electric motor to output torque according to a second torque distribution strategy; wherein, under the second torque distribution strategy, the torque output by the hydraulic motor is less than the torque output by the electric motor. The second torque distribution strategy is a strategy of controlling the torque output by the hydraulic motor to be less than the torque output by the electric motor.

[0084] Case 3: if the hoisting acceleration is less than or equal to a second acceleration threshold, set the deceleration mode as the second driving mode; wherein the second acceleration threshold is less than 0.

[0085] Correspondingly, if the second driving mode is the deceleration mode (i.e. deceleration stop mode), the process of controlling the output torque according to the second driving mode comprises: controlling the hydraulic motor to output torque.

[0086] Case 4: if the hoisting acceleration is less than the first acceleration threshold and greater than the second acceleration threshold, determine whether the battery capacity remaining value is less than an electric quantity threshold; if yes, set the hydraulic driving mode as the second driving mode; if no, set the medium load energy saving mode as the second driving mode.

[0087] Correspondingly, if the second driving mode is the hydraulic driving mode, the process of controlling the output torque according to the second driving mode comprises: controlling the hydraulic motor to output torque.

[0088] Correspondingly, if the second driving mode is the medium load energy saving mode, the process of controlling the output torque according to the second driving mode comprises: controlling the hydraulic motor and the electric motor to output torque according to the second torque distribution strategy.

[0089] Further, if the hoisting mechanism performs a lowering action, the torque control mode of the hoisting mechanism can be controlled in the following manner:

[0090] If the current hoisting working condition is a third working condition, the hydraulic motor and the electric motor are controlled to output torque according to the first torque distribution strategy; wherein, under the third working condition, the hoisting mechanism performs a lowering action, the hoisting acceleration is greater than or equal to the first acceleration threshold, and the hoisting speed is less than the first speed threshold.

[0091] If the current hoisting working condition is a fourth working condition, the hydraulic motor and the electric motor are controlled to output torque according to the second torque distribution strategy; wherein, under the fourth working condition, the hoisting mechanism performs a lowering action, the hoisting acceleration is greater than or equal to the first acceleration threshold, and the hoisting speed is greater than or equal to the first speed threshold.

[0092] If the current hoisting working condition is the fifth working condition, the output torque of the hydraulic motor is controlled; wherein, in the fifth working condition, the hoisting mechanism performs a lowering action, and the hoisting acceleration is less than or equal to the second acceleration threshold.

[0093] If the current hoisting working condition is the sixth working condition, the displacement of the main pump connected with the hydraulic motor is adjusted to the minimum value, and the hoisting mechanism is controlled to perform a brake energy recovery operation; wherein, in the sixth working condition, the hoisting mechanism performs a lowering action, the hoisting acceleration is less than the first acceleration threshold, and the hoisting acceleration is greater than the second acceleration threshold. The sixth working condition corresponds to a potential energy recovery mode.

[0094] In the process of controlling the hoisting mechanism, the conventional method usually adjusts the torque according to the currently detected load, which is difficult to deal with the case of load mutation. To solve this problem, the embodiment has the following improvement: the machine learning algorithm is used to analyze the load change trend in real time, predict the upcoming load fluctuation, and adjust the torque output by the motor and the hydraulic motor according to the load change trend. The embodiment can train a prediction model based on a long short-term memory network using historical working data (load and speed change over time) of the hoisting mechanism, input the current working data into the prediction model, and obtain the load change trend.

[0095] The above-described process is illustrated by the following examples in practical applications.

[0096] The embodiment provides an oil-electric dual-power hoisting system and a control method for a rotary drilling rig. The scheme combines the advantages of hydraulic drive and electric drive, realizes efficient cooperation, energy recovery, and low-energy-consumption work or independent work of the two power modes through distinguishing working conditions, and meets the lifting and lowering requirements in complex working conditions. The system core includes a hydraulic motor, a main pump, an electric motor, an electric control system, a battery, a coupling mechanism, a hoisting brake, a weight detection device, a speed detection device, a pressure sensor, a controller, and a human-computer interaction system. The oil-electric dual-drive system uses hybrid power technology, takes into account the toughness of hydraulic power and the efficiency of electric power, uses a hoisting brake instead of an electric hoisting brake system, recovers the energy wasted by the balance valve throttle during the hoisting lowering process through the electric motor on the basis of starting and stopping and brake switch control of the hydraulic system, significantly improves the energy efficiency ratio, working condition adaptability, and economy, solves the short board of immature electric hoisting starting, stopping, and brake control technology and easy-to-wear brake pads, and is an important development direction of future intelligent drilling rigs.

[0097] Specifically, the embodiment couples the motor and the output shaft of the hydraulic motor through a coupling mechanism, and transmits the output torque to the end of the output shaft. A pressure sensor is installed on the pilot line to detect the opening state of the winch brake. The rotational speed of the winch mechanism is monitored in real time through the rotational speed sensor installed on the motor. The collected signals are sent to the PLC (Programmable Logic Controller) at the same time, and the current rotational speed and current size data of the motor are monitored in real time to distinguish the working conditions.

[0098] The embodiment can detect the movement direction of the winch through the rotational speed sensor on the hydraulic motor to determine whether it is lifting or lowering action. When the winch mechanism lowers the load (such as drill pipe and drilling tools), it switches to the brake recovery mode. At this time, the gravitational potential energy drags the winch drum to rotate, and the transmission mechanism drives the motor rotor to overspeed. The motor turns into a generator mode, and then the mechanical energy is converted into electrical energy and stored in the battery pack after being processed by the electronic control system.

[0099] When it is determined that the winch mechanism performs lifting action, the working conditions of the winch mechanism are as follows by collecting the weight detection device, rotational speed detection device and pressure sensor data:

[0100] The pilot pressure of the winch mechanism is detected, and this pressure oil goes to the brake. When the pilot pressure P is less than the brake opening pressure P1 (i.e. the critical value), the hydraulic motor and the motor are not in action. When the pilot pressure P is detected to be greater than or equal to P1, it indicates that the winch brake is currently opened, and the winch mechanism starts to work.

[0101] The controller determines the direction of the motor through the rotational speed detection device to distinguish the lifting and lowering operations of the winch mechanism.

[0102] When the winch mechanism performs lifting action, the controller obtains the load size G currently borne by the winch mechanism through the weight detection device installed on the mast. When the load G is less than the set small load range value G1, it is determined that it is in low load working condition. At this time, the remaining battery capacity value detected by the electronic control system can be determined first. When the remaining battery capacity value J is less than the set low power threshold J1, the system enters the hydraulic drive mode.

[0103] When the remaining battery capacity value J is greater than or equal to J1, the motor drives the winch action, and the hydraulic main pump is in minimum displacement. The system enters the low load electric drive mode, which can effectively reduce the power consumption of the system.

[0104] When the load G is greater than the set large load range value G2, it is a large load working condition, and includes some special cases, such as: the rod is stuck, the hole is stuck, etc. At this time, the system enters the torque superposition mode to deal with the sudden overload situation. Before the brake is opened, the electric control system controls the motor to realize the pre-torque, and the main pump is adjusted to the maximum displacement, and when the brake is opened, the system superimposes the maximum torque of the hydraulic motor and the motor.

[0105] When G2>G>G1, it is a medium load working condition, and the hoist acceleration a is judged by the speed detection device to distinguish the acceleration, deceleration and uniform speed working condition of the hoist within a certain range. The torque superposition mode is the mode in which the motor and the hydraulic motor jointly output torque.

[0106] When the hoist acceleration a is greater than the set value , it indicates that the hoist is in the acceleration working condition, and when the hoist speed V is less than the first speed threshold V1, the system enters the low-speed high-torque starting mode, in which the hydraulic motor is mainly driven to provide starting torque, and the motor is auxiliary, which can effectively increase the starting torque and reduce the impact, so that the starting is smoother, and the torque output proportion distribution is set through the man-machine interaction system.

[0107] When the hoist speed V is greater than or equal to the first speed threshold V1, the system enters the acceleration mode, in which the motor is mainly driven to provide torque, and the hydraulic motor is auxiliary, which can effectively reduce the system power consumption, and the torque output proportion distribution is set through the man-machine interaction system.

[0108] When the hoist acceleration a is less than the set value , the hoist is in the deceleration working condition, and the system enters the deceleration stopping mode, in which the torque output of the motor is rapidly reduced, and the torque is provided by the hydraulic motor until the hoist stops moving, so as to prevent impact and brake locking.

[0109] When <a< , the hoist is in the uniform speed working condition within a certain range, and the remaining value of the battery capacity is judged. When the remaining value of the battery capacity J is less than the set low power threshold J1, the system enters the hydraulic drive mode. When the remaining value of the battery capacity J is greater than or equal to J1, the system enters the medium load energy-saving mode, in which the motor is mainly driven to move the hoist, and the hydraulic motor is auxiliary, the torque output proportion distribution is set through the man-machine interaction system, and the advantages of impact prevention and low power consumption are combined. The hydraulic drive mode is the mode in which only the hydraulic motor outputs torque.

[0110] When the hoist is judged to be lowered by the speed detection device, and the hoist acceleration a is greater than the set value , when the hoist speed V is less than V1, the system enters the low-speed high-torque starting mode, and when the hoist speed V is greater than or equal to V1, the system enters the acceleration mode. When the hoist acceleration a is less than the set value At this time, the hoist is in deceleration mode, and the system enters deceleration and stop mode.

[0111] hoist acceleration <a< When the winch is in a constant speed condition within a certain range, the system enters the potential energy recovery mode. At this time, the main pump is adjusted to the minimum displacement, and the motor converts the potential energy into electrical energy. The electrical energy is then inverted through the electronic control system and stored in the battery to complete the energy recovery.

[0112] This embodiment uses a coupling mechanism to connect the output shafts of the electric motor and the hydraulic motor, simultaneously transmitting the output torque to the output shaft end, thus achieving a larger output torque. During the lowering of the rotary drilling rig's drill rod, the motor converts potential energy into electrical energy, which is then inverted by the electronic control system and stored in the battery for energy recovery. This embodiment uses a weight detection device, a speed detection device, and a pressure sensor to differentiate the current operating conditions of the winch. For different operating conditions, a human-machine interface system is used to set an appropriate torque distribution ratio, improving system stability and fuel economy.

[0113] This embodiment can determine whether the brake pilot pressure P is greater than or equal to the brake opening pressure P1; if yes, it determines the hoist rotation direction; if no, it re-enters the operation of whether the brake pilot pressure P is greater than or equal to the brake opening pressure P1.

[0114] During the lifting action, the following operations are performed: After load detection, if the current load G ≥ G2, enter torque superposition mode; if the current load G ≤ G1 and the remaining battery capacity J is less than J1, enter hydraulic drive mode; if the current load G ≤ G1 and the remaining battery capacity J ≥ J1, enter low-load electric drive mode; if G1 < G < G2 and the hoisting acceleration a ≤ Then it enters deceleration and stop mode; if G1 < G < G2, <a< If J < J1, then enter hydraulic drive mode; if G1 < G < G2, <a< If J≥J1, then enter the medium load energy-saving mode; if G1<G<G2、a≥ If V < V1, then it enters the low-speed, high-torque start mode; if G1 < G < G2, a ≥ If V > V1, then enter acceleration mode.

[0115] During the process of delegating, the operations performed include: If <a< Then it enters the potential energy recovery mode; if a≤ If a ≥ If a is less than V1 and V is less than V1, then enter low speed high torque starting mode; if a is greater than or equal to V1 and V is greater than or equal to V1, then enter acceleration mode. If a is less than V1 and V is less than V1, then enter low speed high torque starting mode; if a is greater than or equal to V1 and V is greater than or equal to V1, then enter acceleration mode.

[0116] The embodiment couples the motor and the output shaft of the hydraulic motor through the coupling mechanism, simultaneously transmits the output torque to the output shaft end, and distinguishes the current working condition of the winch through the weight detection device, the rotating speed detection device and the pressure sensor. The winch is started, stopped and uniformly operated more smoothly by setting the appropriate torque distribution ratio through the man-machine interaction system according to different working conditions. The problems of complex pure motor driving control, easy wear of the brake, and difficult opening and closing control are effectively solved through the mature application of the brake and the balance valve of the hydraulic motor. At the same time, the system power consumption is effectively reduced through motor driving and enable recycling. When operating in the city center, the electric drive mode can realize low noise and low emission. When the load is large, the hydraulic system can be mainly used and the motor can be used for auxiliary construction, so as to guarantee the stability of the system and effectively reduce the system power consumption.

[0117] Please refer to Figure 2 , Figure 2 The embodiment provided by the application is a structural schematic diagram of a control system of a winch mechanism. The winch mechanism includes a hydraulic motor, a motor, a winch brake, a weight detection device and a rotating speed detection device. The control system of the winch mechanism includes:

[0118] A load detection module is configured to determine the current load of the winch mechanism by using the weight detection device.

[0119] A working condition determination module is configured to determine the current winch working condition when the winch brake is in a released state.

[0120] A first control module is configured to determine a first driving mode according to the remaining battery capacity value when the current winch working condition is a first working condition, and control the output torque of the hydraulic motor and / or the motor according to the first driving mode. In the first working condition, the winch mechanism performs a lifting action and the current load is less than or equal to a first threshold value.

[0121] A second control module is configured to determine the winch acceleration by using the rotating speed detection device when the current winch working condition is a second working condition, determine a second driving mode according to the winch acceleration, and control the output torque of the hydraulic motor and / or the motor according to the second driving mode. In the second working condition, the winch mechanism performs a lifting action, the current load is greater than the first threshold value and less than a second threshold value, and the second threshold value is greater than the first threshold value.

[0122] The embodiment can determine the battery capacity remaining value (i.e. the remaining power) by the battery management system, and then control the output torque of the hydraulic motor and / or the electric motor according to the battery capacity remaining value. Specifically, the embodiment can control the hydraulic motor and the electric motor to jointly output torque when the battery capacity remaining value is high, can control the hydraulic motor to output torque and control the electric motor to not output torque when the battery capacity remaining value is low, and can control the electric motor to output torque and control the hydraulic motor to not output torque when the battery capacity remaining value is high and the hydraulic motor needs to be overhauled.

[0123] Further, the embodiment further comprises:

[0124] The third control module is configured to, after determining the current load of the hoisting mechanism by the weight detection device, control the electric motor to pre-torque and adjust the displacement of the main pump connected with the hydraulic motor to the maximum value before the hoisting brake enters the release state if the current load is greater than or equal to the second threshold value, determine the pilot pressure value of the hoisting mechanism, and control the hoisting brake to enter the release state and control the electric motor and the hydraulic motor to output the maximum torque if the pilot pressure value is greater than the critical value.

[0125] Further, the process of determining the first drive mode according to the battery capacity remaining value by the first control module comprises: setting the hydraulic drive mode as the first drive mode if the battery capacity remaining value is less than the power threshold value, and setting the low-load electric drive mode as the first drive mode if the battery capacity remaining value is greater than or equal to the power threshold value.

[0126] Correspondingly, the process of controlling the hydraulic motor and / or the electric motor to output torque according to the first drive mode by the first control module comprises: controlling the hydraulic motor to output torque if the first drive mode is the hydraulic drive mode, and controlling the hydraulic motor and the electric motor to output torque and adjusting the displacement of the main pump connected with the hydraulic motor to the minimum value if the first drive mode is the low-load electric drive mode.

[0127] Further, the second control module determines the second drive mode according to the hoisting acceleration, and the process includes: if the hoisting acceleration is greater than or equal to a first acceleration threshold and the hoisting speed is less than a first speed threshold, setting a low-speed high-torque starting mode as the second drive mode; wherein the first acceleration threshold is greater than 0; if the hoisting acceleration is greater than or equal to the first acceleration threshold and the hoisting speed is greater than or equal to the first speed threshold, setting an acceleration mode as the second drive mode; if the hoisting acceleration is less than or equal to a second acceleration threshold, setting a deceleration mode as the second drive mode; wherein the second acceleration threshold is less than 0; if the hoisting acceleration is less than the first acceleration threshold and greater than the second acceleration threshold, determining whether a battery capacity remaining value is less than a power threshold; if yes, setting a hydraulic drive mode as the second drive mode; if no, setting a medium-load energy-saving mode as the second drive mode.

[0128] Correspondingly, the second control module controls the hydraulic motor and / or the electric motor to output torque according to the second drive mode, and the process includes: if the second drive mode is the low-speed high-torque starting mode, controlling the hydraulic motor and the electric motor to output torque according to a first torque distribution strategy; wherein under the first torque distribution strategy, the torque output by the hydraulic motor is greater than the torque output by the electric motor; if the second drive mode is the acceleration mode, controlling the hydraulic motor and the electric motor to output torque according to a second torque distribution strategy; wherein under the second torque distribution strategy, the torque output by the hydraulic motor is less than the torque output by the electric motor; if the second drive mode is the deceleration mode, controlling the hydraulic motor to output torque; if the second drive mode is the hydraulic drive mode, controlling the hydraulic motor to output torque; if the second drive mode is the medium-load energy-saving mode, controlling the hydraulic motor and the electric motor to output torque according to the second torque distribution strategy.

[0129] Further, the second control module determines the second drive mode according to the hoisting acceleration, and the process includes: if the hoisting acceleration is greater than or equal to a first acceleration threshold and the hoisting speed is less than a first speed threshold, setting a low-speed high-torque starting mode as the second drive mode; wherein the first acceleration threshold is greater than 0; if the hoisting acceleration is greater than or equal to the first acceleration threshold and the hoisting speed is greater than or equal to the first speed threshold, setting an acceleration mode as the second drive mode; if the hoisting acceleration is less than or equal to a second acceleration threshold, setting a deceleration mode as the second drive mode; wherein the second acceleration threshold is less than 0; if the hoisting acceleration is less than the first acceleration threshold and greater than the second acceleration threshold, determining whether a battery capacity remaining value is less than a power threshold; if yes, setting a hydraulic drive mode as the second drive mode; if no, setting a medium-load energy-saving mode as the second drive mode.

[0130] The fourth control module is configured to control the hydraulic motor and the electric motor to output torque according to the first torque distribution strategy if the current hoisting working condition is a third working condition; wherein under the third working condition, the hoisting mechanism performs a lowering action, the hoisting acceleration is greater than or equal to the first acceleration threshold, and the hoisting speed is less than the first speed threshold.

[0131] a fifth control module configured to control the hydraulic motor and the electric motor to output torque according to the second torque distribution strategy if the current hoisting working condition is a fourth working condition; wherein, in the fourth working condition, the hoisting mechanism performs a lowering action, the hoisting acceleration is greater than or equal to the first acceleration threshold, and the hoisting speed is greater than or equal to the first speed threshold;

[0132] a sixth control module configured to control the hydraulic motor to output torque if the current hoisting working condition is a fifth working condition; wherein, in the fifth working condition, the hoisting mechanism performs a lowering action, and the hoisting acceleration is less than or equal to the second acceleration threshold;

[0133] a seventh control module configured to adjust the displacement of a main pump connected to the hydraulic motor to a minimum value and control the hoisting mechanism to perform a brake energy recovery operation if the current hoisting working condition is a sixth working condition; wherein, in the sixth working condition, the hoisting mechanism performs a lowering action, the hoisting acceleration is less than the first acceleration threshold, and the hoisting acceleration is greater than the second acceleration threshold.

[0134] Further, the hoisting mechanism further comprises a coupling mechanism connected to the output shaft of the electric motor and the output shaft of the hydraulic motor, respectively, and configured to output the total torque output by the electric motor and the hydraulic motor to a winding drum of the hoisting mechanism.

[0135] Further, the hoisting mechanism further comprises:

[0136] an action detection module configured to determine the hoisting action type of the hoisting mechanism according to the rotation direction of the hydraulic motor and / or the electric motor; wherein, the hoisting action type comprises a lifting action and a lowering action.

[0137] Since the embodiments of the system part correspond to the embodiments of the method part, the embodiments of the system part are described in the description of the embodiments of the method part, and will not be described here.

[0138] The application also provides a storage medium having a computer program stored thereon, the computer program being executed to implement the steps provided by the above-mentioned embodiments. The storage medium can include: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0139] The application also provides an electronic device, which can include a memory and a processor, the memory has a computer program stored therein, and the processor can implement the steps provided by the above embodiments when invoking the computer program in the memory. Of course, the electronic device can also include various network interfaces, power supplies, and other components.

[0140] The various embodiments are described in the specification by way of progressive progression, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be mutually referred to. For the system disclosed by the embodiments, since it corresponds to the method disclosed by the embodiments, the description is relatively simple, and the relevant parts can be referred to the method part. It should be pointed out that, for those skilled in the art, without departing from the principles of the present application, some improvements and modifications can be made to the present application, and these improvements and modifications also fall within the protection scope of the present application.

[0141] It should also be noted that in the specification, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A control method of a hoisting mechanism, characterized by, The winch mechanism comprises a hydraulic motor, an electric motor, a winch brake, a weight detection device and a rotational speed detection device, and the control method of the winch mechanism comprises: determining the current load of the winch mechanism by using the weight detection device; determining the current winch working condition when the winch brake is in a released state; if the current winch working condition is a first working condition, determining a first driving mode according to the remaining battery capacity and controlling the output torque of the hydraulic motor and / or the electric motor according to the first driving mode; wherein in the first working condition, the winch mechanism performs a lifting action and the current load is less than or equal to a first threshold value; if the current winch working condition is a second working condition, determining a winch acceleration by using the rotational speed detection device, determining a second driving mode according to the winch acceleration, and controlling the output torque of the hydraulic motor and / or the electric motor according to the second driving mode; wherein in the second working condition, the winch mechanism performs a lifting action, the current load is greater than the first threshold value and less than a second threshold value; the second threshold value is greater than the first threshold value; wherein determining the first driving mode according to the remaining battery capacity comprises: if the remaining battery capacity is less than an electric quantity threshold value, setting a hydraulic driving mode as the first driving mode; if the remaining battery capacity is greater than or equal to the electric quantity threshold value, setting a low-load electric driving mode as the first driving mode; correspondingly, controlling the output torque of the hydraulic motor and / or the electric motor according to the first driving mode comprises: if the first driving mode is the hydraulic driving mode, controlling the output torque of the hydraulic motor; if the first driving mode is the low-load electric driving mode, controlling the output torque of the hydraulic motor and the electric motor, and adjusting the displacement of a main pump connected with the hydraulic motor to a minimum value; wherein determining the second driving mode according to the winch acceleration comprises: if the winch acceleration is greater than or equal to a first acceleration threshold value and the winch speed is less than a first speed threshold value, setting a low-speed high-torque starting mode as the second driving mode; wherein the first acceleration threshold value is greater than 0; if the winch acceleration is greater than or equal to the first acceleration threshold value and the winch speed is greater than or equal to the first speed threshold value, setting an acceleration mode as the second driving mode; if the winch acceleration is less than or equal to a second acceleration threshold value, setting a deceleration mode as the second driving mode; wherein the second acceleration threshold value is less than 0; if the winch acceleration is less than the first acceleration threshold value and greater than the second acceleration threshold value, determining whether the remaining battery capacity is less than an electric quantity threshold value; if yes, setting a hydraulic driving mode as the second driving mode; if no, setting a medium-load energy-saving mode as the second driving mode; correspondingly, controlling the output torque of the hydraulic motor and / or the electric motor according to the second driving mode comprises: if the second driving mode is the low-speed high-torque starting mode, controlling the hydraulic motor and the electric motor to output torque according to a first torque distribution strategy; wherein, under the first torque distribution strategy, the torque output by the hydraulic motor is greater than the torque output by the electric motor; if the second driving mode is the acceleration mode, controlling the hydraulic motor and the electric motor to output torque according to a second torque distribution strategy; wherein, under the second torque distribution strategy, the torque output by the hydraulic motor is less than the torque output by the electric motor; if the second driving mode is the deceleration mode, controlling the hydraulic motor to output torque; if the second driving mode is the hydraulic driving mode, controlling the hydraulic motor to output torque; if the second driving mode is the medium-load energy-saving mode, controlling the hydraulic motor and the electric motor to output torque according to the second torque distribution strategy; wherein the hoisting mechanism further comprises a coupling mechanism connected to the output shaft of the electric motor and the output shaft of the hydraulic motor respectively, and the coupling mechanism is configured to output the total torque output by the electric motor and the hydraulic motor to the drum of the hoisting mechanism.

2. The control method of the hoisting mechanism according to claim 1, characterized in that, After determining the current load of the hoisting mechanism by using the weight detection device, further comprising: if the current load is greater than or equal to the second threshold value, before the hoisting brake enters the released state, controlling the electric motor to pre-torque and adjusting the displacement of the main pump connected to the hydraulic motor to the maximum value; determining a pilot pressure value of the hoisting mechanism; when the pilot pressure value is greater than a critical value, controlling the hoisting brake to enter the released state, and controlling the electric motor and the hydraulic motor to output maximum torque.

3. The control method of the hoisting mechanism according to claim 1, characterized in that, Further comprising: if the current hoisting working condition is a third working condition, controlling the hydraulic motor and the electric motor to output torque according to the first torque distribution strategy; wherein, under the third working condition, the hoisting mechanism performs a lowering action, the hoisting acceleration is greater than or equal to the first acceleration threshold value, and the hoisting speed is less than the first speed threshold value; if the current hoisting working condition is a fourth working condition, controlling the hydraulic motor and the electric motor to output torque according to the second torque distribution strategy; wherein, under the fourth working condition, the hoisting mechanism performs a lowering action, the hoisting acceleration is greater than or equal to the first acceleration threshold value, and the hoisting speed is greater than or equal to the first speed threshold value; if the current hoisting working condition is a fifth working condition, controlling the hydraulic motor to output torque; wherein, under the fifth working condition, the hoisting mechanism performs a lowering action, and the hoisting acceleration is less than or equal to the second acceleration threshold value; if the current hoisting working condition is a sixth working condition, adjusting the displacement of the main pump connected to the hydraulic motor to the minimum value, and controlling the hoisting mechanism to perform a brake energy recovery operation; wherein, under the sixth working condition, the hoisting mechanism performs a lowering action, the hoisting acceleration is less than the first acceleration threshold value, and the hoisting acceleration is greater than the second acceleration threshold value.

4. The control method of the hoisting mechanism according to claim 1, characterized in that, Further comprising: The winding action type of the winding mechanism is determined according to the rotation direction of the hydraulic motor and / or the electric motor; wherein the winding action type includes the up action and the down action.

5. A control system for a hoisting mechanism, characterized in that The control method for realizing the winding mechanism of any one of claims 1 to 4, the winding mechanism comprising a hydraulic motor, an electric motor, a winding brake, a weight detection device and a rotation speed detection device, the control system of the winding mechanism comprising: a load detection module for determining the current load of the winding mechanism by using the weight detection device; a working condition determination module for determining the current winding working condition when the winding brake is in the released state; a first control module for determining a first driving mode according to the remaining battery capacity value if the current winding working condition is a first working condition, and controlling the output torque of the hydraulic motor and / or the electric motor according to the first driving mode; wherein in the first working condition, the winding mechanism performs the up action and the current load is less than or equal to a first threshold value; a second control module for determining the winding acceleration by using the rotation speed detection device if the current winding working condition is a second working condition, determining a second driving mode according to the winding acceleration, and controlling the output torque of the hydraulic motor and / or the electric motor according to the second driving mode; wherein in the second working condition, the winding mechanism performs the up action, the current load is greater than the first threshold value and less than a second threshold value; the second threshold value is greater than the first threshold value.

6. An electronic device, comprising: A computer readable storage medium, wherein the computer readable storage medium stores computer executable instructions, and the computer executable instructions are loaded and executed by a processor to realize the steps of the control method of the winding mechanism of any one of claims 1 to 4.

7. A storage medium, characterized by A computer readable storage medium, wherein the computer readable storage medium stores computer executable instructions, and the computer executable instructions are loaded and executed by a processor to realize the steps of the control method of the winding mechanism of any one of claims 1 to 4.

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