Multi-lifting-rope working cabin lifting control method and device and automatic lifting equipment

Abstract

The invention relates to a multi-lifting-rope working cabin lifting control method and device and automatic lifting equipment, and belongs to the technical field of automatic lifting equipment. The two ends of lifting ropes are connected with a working cabin and a reel respectively, and the reel is driven by a motor; the method comprises the steps that in the lifting process of a working cabin, the winding radius of a lifting rope on a reel is detected in real time; the real-time rotating speed of the motor is determined according to the target linear speed of the lifting rope and the winding radius, and the motor is controlled to drive the reel to rotate according to the real-time rotating speed. The linear speed of the lifting rope can be kept stable, and lifting impact and posture oscillation caused by fluctuation of the linear speed are avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic lifting equipment, and in particular to a multi-hoisting rope work cabin lifting control method and device and automatic lifting equipment. BACKGROUND

[0002] In the field of automatic lifting equipment (such as aerial work platforms, suspended logistics transfer cabins, precision hoisting devices, etc.), multi-hoisting rope cooperative control technology is widely used to achieve stable lifting and attitude adjustment of the load. The existing technology usually adopts open-loop synchronous control: by uniformly setting the rotating speed or pulse width modulation (PWM) duty cycle of the motor driving each hoisting rope winding, the theoretical synchronization of each hoisting rope winding is achieved.

[0003] However, the existing open-loop synchronous control technology has the defect of hoisting rope speed fluctuation. When the motor drives the winding shaft to rotate, the winding state of the hoisting rope on the winding shaft dynamically changes with the length of the winding (such as the increase in radius caused by superimposed winding and the sudden decrease in radius caused by local sliding), resulting in nonlinear mutation of the actual linear speed of the hoisting rope at the same motor rotating speed. For example: when the number of winding layers is 0, the winding radius is also the initial radius of the winding shaft, which is 50 mm, and the motor rotating speed of 100 r / min corresponds to the hoisting rope linear speed of about 0.52 m / s; when the number of winding layers increases to 10 (rope diameter 2 mm), the winding radius increases to 70 mm, and the linear speed increases to 0.73 m / s at the same rotating speed, with a speed fluctuation of 40%, causing lifting impact and attitude oscillation. SUMMARY

[0004] Therefore, it is necessary to provide a multi-hoisting rope work cabin lifting control method, device and automatic lifting equipment to solve the problem of hoisting rope speed fluctuation in the existing open-loop synchronous control technology.

[0005] To solve the above problems, in a first aspect, the present application provides a multi-hoisting rope work cabin lifting control method, both ends of the hoisting rope being connected with the work cabin and the winding shaft respectively, the winding shaft being driven by a motor; the method comprising: detecting the winding radius of the hoisting rope on the winding shaft in real time during the lifting of the work cabin; determining the real-time rotating speed of the motor according to the target linear speed of the hoisting rope and the winding radius, and driving the winding shaft to rotate according to the real-time rotating speed of the motor.

[0006] In a possible implementation, the real-time detection of the winding radius of the hoisting rope on the winding shaft comprises: detecting the number of winding layers of the hoisting rope on the winding shaft in real time; determining the winding radius of the hoisting rope on the winding shaft according to the number of winding layers and the thickness of the hoisting rope.

[0007] In one possible implementation, the real-time detection of the number of layers of the suspension rope wound on the reel includes: The rotation angle of the motor is detected in real time, and the number of layers of the suspension rope wound on the reel is obtained using the following formula: n = INT (a x r0 / (2pR0)) In the formula, n Indicates the number of winding layers. INT This represents the floor function. α Indicates the rotation angle of the motor. r0 This indicates the reduction ratio of the motor. R0 This indicates the initial radius of the scroll.

[0008] In one possible implementation, the method further includes: The first linear velocity compensation amount of each hoisting rope is determined based on the attitude information of the working cabin; The second linear velocity compensation amount of each suspension rope is determined based on the deviation of the tension on each suspension rope; The target linear velocity of each suspension rope is determined based on the first linear velocity compensation amount and the second linear velocity compensation amount.

[0009] In one possible implementation, the various slings include a target sling and other slings; determining the first linear velocity compensation amount for each sling based on the attitude information of the work capsule includes: The first linear velocity compensation of the target suspension rope is controlled to be 0; Based on the attitude information of the working cabin and the attitude compensation coefficient, the first linear velocity compensation amount of the other suspension ropes is determined; The step of determining the second linear velocity compensation amount for each suspension rope based on the deviation of the tension on each suspension rope includes: The second linear velocity compensation of the target suspension rope is controlled to be 0; The second linear velocity compensation amount of the other suspension ropes is determined based on the deviation of the tension on the other suspension ropes from the average tension of all suspension ropes and the tension compensation coefficient.

[0010] In one possible implementation, the number of other slings is two, the attitude information includes pitch angle, pitch rate, roll angle, and roll rate, and the attitude compensation coefficients include pitch angle scaling factor, pitch angle damping factor, roll angle scaling factor, and roll angle damping factor; determining the first linear velocity compensation amount of the other slings based on the attitude information of the work cabin and the attitude compensation coefficients includes: The sum of the product of the pitch angle and the pitch angle proportionality coefficient and the product of the pitch angular velocity and the pitch angle damping coefficient is used as the first linear velocity compensation amount for one of the other suspension ropes. The sum of the product of the roll angle and the roll angle proportionality coefficient and the product of the roll angular velocity and the roll angular damping coefficient is used as the first linear velocity compensation amount for the other rope among the other ropes.

[0011] In one possible implementation, the attitude information includes pitch angle and roll angle; the method further includes: When the absolute value of the pitch angle is greater than a preset pitch angle threshold, or when the absolute value of the roll angle is greater than a preset roll angle threshold, the working cabin is controlled to decelerate.

[0012] In one possible implementation, the method further includes: When the deviation of the tension on any of the other suspension ropes exceeds the deviation threshold, the tension compensation coefficient is increased, and / or the attitude compensation coefficient is decreased.

[0013] Secondly, the present invention also provides a multi-rope work cabin lifting control device, comprising: Multiple lifting ropes, with each end of the rope connected to the working chamber and the reel, respectively; Multiple sets of hoisting rope drive mechanisms corresponding to the number of hoisting ropes, each set of hoisting rope drive mechanisms includes a motor and a reel, the motor being used to drive the reel; A reel position sensor is used to detect the winding radius of the hoisting rope on the reel in real time during the lifting and lowering of the working cabin; The control unit is used to determine the real-time rotational speed of the motor based on the target linear velocity of the suspension rope and the winding radius; A drive unit is used to control the motor to drive the reel to rotate according to the real-time rotation speed.

[0014] Thirdly, the present invention also provides an automatic lifting device, which includes the above-mentioned multi-rope work cabin lifting control device.

[0015] The beneficial effects of this invention are: During the lifting and lowering of the work cabin, this invention detects the winding radius of the hoisting rope on the reel in real time; then, based on the target linear velocity of the hoisting rope and the winding radius, it determines the real-time rotation speed of the motor, and controls the motor to drive the reel to rotate based on the real-time rotation speed. This can keep the linear velocity of the hoisting rope stable and avoid lifting and lowering impacts and attitude oscillations caused by fluctuations in linear velocity. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A flowchart illustrating an embodiment of the multi-rope work cabin lifting control method provided by the present invention; Figure 2 A schematic diagram of a working cabin connection structure provided by the present invention; Figure 3 This is a flowchart illustrating another embodiment of the multi-rope lifting control method for the work cabin provided by the present invention. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0019] In the description of the embodiments of this invention, unless otherwise stated, "multiple" means two or more. "And / or" describes the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following associated objects have an "or" relationship.

[0020] In the embodiments of this invention, the terms "first," "second," etc., are used to distinguish similar objects, and are not used to describe a specific order or sequence, nor to indicate or imply their relative importance or implicitly specify the number of technical features indicated. It should be understood that such data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class, and the number of objects is not limited; for example, the first object can be one or more.

[0021] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0022] Reference Figure 1 This diagram illustrates a flow chart of an embodiment of the multi-rope work cabin lifting control method provided by the present invention, wherein the work cabin is connected to multiple ropes, which are then connected to multiple reels, each reel being driven by a motor. Figure 2 The diagram illustrates a working cabin connection structure provided by this invention. The working cabin (lower cabin) and the power cabin (upper cabin) are connected by three hoisting ropes. The power cabin uses an independent power supply to drive a motor unit to rotate. The rotation of the motor unit drives a rotating shaft, which in turn moves the hoisting ropes up and down, causing the working cabin to move up and down. Each of the three hoisting ropes is independently controlled by a separate motor, allowing for easy adjustment of the working cabin's angular velocity and position. After work is completed, the working cabin and power cabin can be stowed together and easily transferred using a handle. The power cabin includes a sensor group, comprising multiple sensors such as attitude sensors and tension sensors, used to acquire information about the working cabin's attitude and tension. The method in this embodiment includes: S201 monitors the radius of the hoisting rope winding on the reel in real time during the lifting and lowering of the work cabin.

[0023] Winding radius = initial radius of the reel (radius without rope winding) + thickness of the rope winding on the reel.

[0024] The winding radius can be directly detected by a vision sensor or a height sensor, or it can be indirectly calculated by the rotation angle of the reel or the motor. This embodiment does not impose specific limitations on the detection method of the winding radius.

[0025] S202 determines the real-time speed of the motor based on the target linear velocity of the suspension rope and the winding radius, and controls the motor to drive the reel to rotate based on the real-time speed.

[0026] Dividing the target linear velocity of the suspending rope by the winding radius gives the rotational speed of the reel, and the real-time rotational speed of the motor can be obtained from the rotational speed of the reel.

[0027] The multi-rope work cabin lifting control method provided in this embodiment can be applied to a multi-rope work cabin lifting control software system, which can operate based on automatic lifting equipment.

[0028] In summary, this embodiment detects the winding radius of the hoisting rope on the reel in real time during the lifting and lowering of the work cabin; then, it determines the real-time speed of the motor based on the target linear velocity of the hoisting rope and the winding radius, and controls the motor to drive the reel to rotate based on the real-time speed. This can keep the linear velocity of the hoisting rope stable and avoid lifting and lowering impacts and attitude oscillations caused by fluctuations in linear velocity.

[0029] In some embodiments of the present invention, step S202 includes: Real-time detection of the number of layers of the hoisting rope wound on the reel; Determine the winding radius of the lifting rope on the reel based on the number of winding layers and the thickness of the rope.

[0030] In this embodiment, the motor rotation angle or the reel rotation angle can be detected in real time. The number of layers of the rope wound on the reel can be determined by the motor rotation angle or the reel rotation angle, and then the winding radius can be calculated by the following formula: R = R0 + n - d In the formula, R Where is the winding radius, R0 Let the initial radius be , n The number of winding layers, d This refers to the thickness of the suspension rope.

[0031] In some embodiments of the present invention, the step of real-time detection of the number of layers of the suspension rope wound on the reel includes: The motor's rotation angle is detected in real time, and the number of layers of the suspension rope wound on the reel is obtained using the following formula: n = INT (a x r0 / (2pR0)) In the formula, n Indicates the number of winding layers. INT It is an abbreviation for "Integer" and represents the floor function. α Indicates the rotation angle of the motor. r0 This indicates the reduction ratio of the motor. R0 This indicates the initial radius of the scroll.

[0032] Existing multi-rope coordinated control technology is typically a simple closed-loop control: it adjusts the speed of each rope proportionally based solely on feedback from attitude sensors (such as tilt sensors) to correct the tilt of the work capsule. However, this control technology does not consider the force imbalance and attitude loss caused by the shift of the work capsule's load center of gravity.

[0033] When the load on the work cabin changes (e.g., during cargo loading and unloading) or is unevenly distributed (e.g., uneven personnel / cargo distribution), the center of gravity shifts, causing significant differences in the force on each hoisting rope (potentially exceeding 30%). Existing control technologies rely solely on attitude feedback adjustments, failing to distinguish between the root cause of "attitude tilt" and "center of gravity shift," easily falling into a vicious cycle of "the more you adjust, the more the tilt worsens." For example, if a right-side center of gravity shift causes the work cabin to tilt to the right, existing algorithms will accelerate the deployment and retraction of the right-side hoisting rope to correct the tilt, but they ignore that the center of gravity shift itself is the cause of the force imbalance, ultimately leading to a further increase in the force on the right-side hoisting rope and exacerbating system instability.

[0034] Therefore, in some embodiments of the present invention, such as Figure 3 As shown, the multi-rope work cabin lifting control method also includes: S301 determines the first linear velocity compensation amount for each hoisting rope based on the attitude information of the working cabin.

[0035] Compensating for the linear velocity of the hoisting rope based on the attitude information of the working chamber is a mature existing technology, which will not be elaborated on here.

[0036] S301, determine the second linear velocity compensation amount for each suspension rope based on the deviation of the tension on each rope.

[0037] The average tension of each suspension rope can be obtained by comparing the tension of each rope with the average tension. The larger the deviation, the greater the second linear velocity compensation.

[0038] S303, determine the target linear velocity of each suspension rope based on the first linear velocity compensation amount and the second linear velocity compensation amount.

[0039] The current linear velocity of each suspension rope is compensated based on the first and second linear velocity compensation amounts, thereby obtaining the target linear velocity of each suspension rope.

[0040] The tension on each hoisting rope can reflect the center of gravity of the working cabin load. In this embodiment, based on the traditional attitude compensation, the tension on each hoisting rope is also detected. Based on the deviation of the tension on each hoisting rope, the second linear velocity compensation amount of each hoisting rope is determined. Based on the second linear velocity compensation amount, the center of gravity offset compensation is further performed, which can offset the uneven force caused by the center of gravity offset and solve the vicious cycle of "exacerbating tilting due to off-center loading" in the traditional solution.

[0041] In some embodiments of the present invention, each sling includes a target sling and other slings; S301 includes: The first linear velocity compensation of the control target suspension rope is 0; Based on the attitude information of the working cabin and the attitude compensation coefficient, determine the first linear velocity compensation amount of the other suspension ropes; S302 includes: The second linear velocity compensation of the target suspension rope is set to 0. The second linear velocity compensation amount of the other suspension ropes is determined based on the deviation of the tension on the other suspension ropes from the average tension of all suspension ropes and the tension compensation coefficient.

[0042] In this embodiment, the linear velocity of one of the suspension ropes, i.e. the target suspension rope, is kept constant, while the linear velocities of the other suspension ropes are adjusted.

[0043] In some embodiments of the present invention, the number of other suspension ropes is 2, the attitude information includes pitch angle, pitch rate, roll angle, and roll rate, and the attitude compensation coefficients include pitch angle proportionality coefficient, pitch angle damping coefficient, roll angle proportionality coefficient, and roll angle damping coefficient; based on the attitude information of the working cabin, the first linear velocity compensation amount of the other suspension ropes is determined, including: The sum of the product of the pitch angle and the pitch angle proportionality coefficient and the product of the pitch angle velocity and the pitch angle damping coefficient is used as the first linear velocity compensation for one of the other suspension ropes. The sum of the product of the roll angle and the roll angle proportionality coefficient, and the product of the roll angular velocity and the roll angle damping coefficient, is used as the first linear velocity compensation for the other rope among the other ropes.

[0044] In one example of this embodiment, the following data is collected every 5ms, and the linear velocity compensation of the suspension rope is calculated.

[0045] The collected data includes: The tension of the 3 ropes (rope 1, rope 2, rope 3): F1 , F2 , F3 Current linear velocity of the 3 suspension ropes: V0 Work pod attitude information: θ (Pitch angle) φ (Roll angle) θ' (Pitch angular velocity) φ' (Roll rate); Control parameters: Kpθ (Pitch angle scaling factor) Kdθ (Pitch angle damping coefficient) Kpφ (Roll angle proportionality factor) Kdφ (Roll angle proportionality factor) Kf (Tension compensation coefficient).

[0046] The calculation process is as follows: Tension deviation ΔF1 = F1 - F_avg , ΔF3 = F3 - F_avg ( F_avg (This is the average tension of the three suspension ropes). Second linear velocity compensation (center of gravity offset compensation): Vf1 = Kf - ΔF1 , Vf3 = Kf - ΔF3 ; Target linear velocity of rope 2 (target suspension rope): V2 = V0 ; Target linear velocity of rope 1 (other suspension ropes): V1 = V0 + Kpθ - θ + Kdθ - θ' + Vf1 ; Target linear velocity of rope 3 (target suspension rope): V3 = V0 + Kpφ - φ + Kdφ - φ' + Vf3 .

[0047] In some embodiments of the present invention, the multi-rope work cabin lifting control method further includes: When the absolute value of the pitch angle is greater than the preset pitch angle threshold, or when the absolute value of the roll angle is greater than the preset roll angle threshold, the working cabin speed is reduced.

[0048] For example, when |θ|>5°, control the working chamber to slow down.

[0049] This embodiment incorporates a safety protection mechanism to prevent equipment damage under extreme operating conditions.

[0050] A safety protection mechanism based solely on the attitude information of the work cabin may result in overprotection at low loads (shutting down the machine with a slight tilt) or insufficient protection at high loads (continuing to operate even when subjected to excessive force), posing a safety hazard.

[0051] Therefore, in some embodiments of the present invention, the multi-rope work cabin lifting control method further includes: When the deviation of the tension on any of the other suspension ropes exceeds the deviation threshold, increase the tension compensation coefficient and / or decrease the attitude compensation coefficient.

[0052] In this embodiment, when the deviation of the tension on any of the other suspension ropes exceeds the deviation threshold, the load balancing priority mode is triggered. Its core is to take the load (tension) balancing of each suspension rope as the primary control objective, and temporarily reduce the priority of other control objectives (such as attitude accuracy and lifting speed) to avoid safety risks caused by overload of a single suspension rope.

[0053] For example, when the tension of any of the other ropes deviates (e.g. ΔF1 or ΔF3 The absolute value of ) exceeds the average tensile force ( F_avg When 20% of ) (i.e. | ΔF1 >20% F_avg or | ΔF3 >20% F_avg If the system determines that the risk of load distribution imbalance is high, it will automatically enter this mode. Core control logic: In this mode, the compensation weight of tension feedback will be strengthened, prioritizing adjustments to the target linear velocity of each suspension rope. V1 ,V2 , V3 This is used to correct tension deviation, specifically as follows: Increase the tensile compensation coefficient ( Kf ), so that the second linear velocity compensation amount ( Vf1 , Vf3 The effect on the linear velocity of the suspension rope is more significant; Reduce attitude compensation parameters ( Kpθ , Kdθ , Kpφ , Kdφ This allows for a slight decrease in attitude accuracy within a short period, prioritizing the rapid equalization of tension in each suspension rope (so that...). ΔF1 , ΔF3 Back to 20% F_avg within).

[0054] Purpose and effect: To avoid problems such as breakage and accelerated wear of a single suspension rope due to excessive force, and to prevent further tilting or shaking of the work cabin due to unbalanced load distribution, thereby fundamentally ensuring the safety of equipment and load.

[0055] To further illustrate the present invention, a specific example is shown below: 1. Hardware configuration: Scroll parameters: Initial radius R0 =50mm, rope diameter d =2mm, maximum number of layers N =10; Sensor: MPU6050 (attitude sampling 200Hz), 16-bit incremental encoder; Control parameters: Kpθ = Kpφ = 0.5 4.5, Kdθ = Kdφ = 0.5 0.08, Kf = 0.5 0.02.

[0056] 2. Verification under typical operating conditions: (1) Scenario of varying winding radius: When the rope length increases from 0 to 10m (number of winding layers) n =5), R =50 + 5 × 2 = 60 mm; The motor speed automatically changes from ω = V0 / 50 is corrected to ω = V0 / 60, maintain a constant linear velocity.

[0057] (2) Scenario with center of gravity shift: Loading on the right side of the work cabin caused F3 =120% F_avg , ΔF3 =20% F_avg ; Load compensation Vf3=0.02×20% F_avg =0.4% V0 , V3 Automatically increase by 0.4% to balance the pull on the right side.

[0058] 3. Performance Indicators: Lifting and lowering smoothness: speed fluctuation ≤ ±1.5%, with no obvious impact; Leveling accuracy: Static level ±0.2°, dynamic level ±0.3°; Anti-interference capability: When subjected to a 5kg off-center load, the recovery time is ≤0.5s.

[0059] 4. Beneficial effects: (1) Significantly reduces the impact of sudden changes in the radius of the coil: Traditional control methods can cause linear velocity fluctuations of up to ±15% due to radius changes. This invention, through real-time correction, controls the fluctuations to within ±2%, eliminating the impact and jerking sensation during the ascent and descent process.

[0060] (2) Dynamic equilibrium center of gravity shift: The response time to center of gravity shift caused by load changes or off-center loading is ≤30ms, and the force deviation of each suspension rope is controlled within ±5%, thus solving the vicious cycle of "off-center loading exacerbating tilting" in traditional solutions.

[0061] (3) Improve attitude control accuracy: The static levelness error has been improved from the traditional ±1° to ±0.2°, and the dynamic (during lifting and lowering) error has been improved from ±2° to ±0.3°, meeting the requirements of high-precision operation scenarios.

[0062] (4) Enhance system robustness: It requires no recalibration within the 50%-150% rated load range and can adapt to different working conditions; the recovery time to external disturbances (such as sudden off-center loads or rope length differences) is ≤0.5s, and the anti-interference capability is improved by more than 3 times.

[0063] (5) Expanding application scenarios: Compared to traditional solutions that are only suitable for fixed loads and low-speed lifting, this invention can meet the stringent requirements for stability and safety in fields such as precision hoisting, aerial work platforms, and logistics suspension systems.

[0064] In summary, this invention fundamentally solves the two core interference problems of winding radius variation and center of gravity shift through the innovative design of "real-time correction of winding radius parameters + dynamic load compensation + multi-closed-loop collaborative control integrating attitude closed loop, speed closed loop and tension closed loop", thus achieving high-precision and high-stability control of the lifting process.

[0065] The present invention also provides a multi-rope lifting control device for a work cabin; the device includes: Multiple lifting ropes, with each end of the rope connected to the working chamber and the reel, respectively; Multiple sets of hoisting rope drive mechanisms corresponding to the number of hoisting ropes, each set of hoisting rope drive mechanisms includes a motor and a reel, the motor is used to drive the reel; A reel position sensor is used to detect the winding radius of the hoisting rope on the reel in real time during the lifting and lowering of the work cabin; The control unit is used to determine the real-time speed of the motor based on the target linear velocity of the suspension rope and the winding radius; The drive unit is used to control the motor to drive the reel to rotate based on the real-time rotation speed.

[0066] It should be noted that the implementation principle or process of each of the above units can be referred to the aforementioned implementation method of the multi-rope working cabin lifting control method, and will not be described in detail here.

[0067] In some embodiments of the present invention, the motor may be equipped with an encoder, and the device further includes: Detection unit; the detection unit includes: Attitude sensor: used to collect the pitch angle of the work cabin. θ Roll angle φ and angular velocity θ' , φ' ; Tension sensors: installed on each suspension rope to detect the real-time tension of each rope; And the aforementioned reel position sensor.

[0068] In some embodiments of the present invention, the control unit of the device can be an industrial microcontroller (such as STM32F4) that integrates a multivariable coupled control algorithm; the drive unit can be a servo driver with current feedback that supports torque / speed dual-mode control.

[0069] The present invention also provides an automatic lifting device, which includes the above-mentioned multi-rope work cabin lifting control device.

[0070] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0071] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for controlling the lifting and lowering of a multi-rope work cabin, characterized in that, The two ends of the hoisting rope are connected to the working chamber and the reel, respectively, and the reel is driven by a motor; the method includes: During the lifting and lowering of the work cabin, the winding radius of the hoisting rope on the reel is detected in real time; The real-time rotational speed of the motor is determined based on the target linear velocity of the suspension rope and the winding radius, and the motor is controlled to drive the reel to rotate based on the real-time rotational speed.

2. The multi-rope lifting control method for the working cabin according to claim 1, characterized in that, The real-time detection of the winding radius of the suspension rope on the reel includes: The number of layers of the hoisting rope wound on the reel is detected in real time; The winding radius of the suspension rope on the reel is determined based on the number of winding layers and the thickness of the suspension rope.

3. The multi-rope lifting control method for the working cabin according to claim 2, characterized in that, The real-time detection of the number of layers of the suspension rope wound on the reel includes: The rotation angle of the motor is detected in real time, and the number of layers of the suspension rope wound on the reel is obtained using the following formula: n = INT (α × r0 / (2πR0)) In the formula, n Indicates the number of winding layers. INT This represents the floor function. α Indicates the rotation angle of the motor. r0 This indicates the reduction ratio of the motor. R0 This indicates the initial radius of the scroll.

4. The multi-rope lifting control method for the working cabin according to claim 1, characterized in that, The method further includes: The first linear velocity compensation amount of each hoisting rope is determined based on the attitude information of the working cabin; The second linear velocity compensation amount of each suspension rope is determined based on the deviation of the tension on each suspension rope; The target linear velocity of each suspension rope is determined based on the first linear velocity compensation amount and the second linear velocity compensation amount.

5. The multi-rope lifting control method for the working cabin according to claim 4, characterized in that, Each hoisting rope includes a target hoisting rope and other hoisting ropes; determining the first linear velocity compensation amount for each hoisting rope based on the attitude information of the working cabin includes: The first linear velocity compensation of the target suspension rope is controlled to be 0; Based on the attitude information of the working cabin and the attitude compensation coefficient, the first linear velocity compensation amount of the other suspension ropes is determined; The step of determining the second linear velocity compensation amount for each suspension rope based on the deviation of the tension on each suspension rope includes: The second linear velocity compensation of the target suspension rope is controlled to be 0; The second linear velocity compensation amount of the other suspension ropes is determined based on the deviation of the tension on the other suspension ropes from the average tension of all suspension ropes and the tension compensation coefficient.

6. The multi-rope lifting control method for the working cabin according to claim 5, characterized in that, The number of other hoisting ropes is 2. The attitude information includes pitch angle, pitch rate, roll angle, and roll rate. The attitude compensation coefficients include pitch angle proportionality coefficient, pitch angle damping coefficient, roll angle proportionality coefficient, and roll angle damping coefficient. Determining the first linear velocity compensation amount of the other hoisting ropes based on the attitude information of the working cabin and the attitude compensation coefficients includes: The sum of the product of the pitch angle and the pitch angle proportionality coefficient and the product of the pitch angular velocity and the pitch angle damping coefficient is used as the first linear velocity compensation amount for one of the other suspension ropes. The sum of the product of the roll angle and the roll angle proportionality coefficient and the product of the roll angular velocity and the roll angular damping coefficient is used as the first linear velocity compensation amount for the other rope among the other ropes.

7. The multi-rope lifting control method for the working cabin according to claim 4, characterized in that, The attitude information includes pitch angle and roll angle; the method further includes: When the absolute value of the pitch angle is greater than a preset pitch angle threshold, or when the absolute value of the roll angle is greater than a preset roll angle threshold, the working cabin is controlled to decelerate.

8. The multi-rope lifting control method for the working cabin according to claim 5, characterized in that, The method further includes: When the deviation of the tension on any of the other suspension ropes exceeds the deviation threshold, the tension compensation coefficient is increased, and / or the attitude compensation coefficient is decreased.

9. A multi-rope lifting control device for a work cabin, characterized in that, include: Multiple lifting ropes, with each end of the rope connected to the working chamber and the reel, respectively; Multiple sets of hoisting rope drive mechanisms corresponding to the number of hoisting ropes, each set of hoisting rope drive mechanisms includes a motor and a reel, the motor being used to drive the reel; A reel position sensor is used to detect the winding radius of the hoisting rope on the reel in real time during the lifting and lowering of the working cabin; The control unit is used to determine the real-time rotational speed of the motor based on the target linear velocity of the suspension rope and the winding radius; A drive unit is used to control the motor to drive the reel to rotate according to the real-time rotation speed.

10. An automatic lifting device, characterized in that, The automatic lifting equipment includes the multi-rope working cabin lifting control device as described in claim 9.

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