CN115744528A - Control method and device of lifting system and lifting system - Google Patents

Abstract

The embodiment of the application is suitable for the technical field of elevators, and provides a control method and device of a lifting system and the lifting system, wherein the lifting system comprises a traction rope, a disc brake for driving the traction rope to move, and a first lifting container and a second lifting container which are positioned at two ends of the traction rope, and the method comprises the following steps: acquiring operation parameters of the lifting system during operation, wherein the operation parameters comprise the current moving speed of a traction rope and the working temperature of a disc brake; determining the working state of the lifting system according to the operation parameters; if the lifting system is determined to be in an abnormal state, acquiring the current position of the target lifting container; the target lifting container is a lifting container which is loaded with a target object in the first lifting container and the second lifting container; and controlling the target lifting container according to the current position and a preset target position. The method can reduce the trapped time of the target object.

Description

Control method and device of lifting system and lifting system

Technical Field

The application belongs to the technical field of elevators, and particularly relates to a control method and device of a lifting system and the lifting system.

Background

The mine hoisting system is an important device in the production process of coal mines and nonferrous metals mines. The mine hoisting system generally includes a main hoist for transporting ore and waste rock and an auxiliary hoist for transporting personnel who go down the well.

At present, if the auxiliary hoisting machine breaks down in the process of transporting personnel, the auxiliary hoisting machine can stop running immediately, so that the personnel carried by the auxiliary hoisting machine are trapped in a mine for a long time, and the potential safety hazard is large.

Disclosure of Invention

The embodiment of the application provides a control method and device of a lifting system and the lifting system, and can solve the problem that personnel carried by a secondary lifting machine are trapped in a mine for a long time.

In a first aspect, embodiments of the present application provide a control method for a hoisting system, where the hoisting system includes a traction rope, a disc brake for driving the traction rope to move, and a first hoisting container and a second hoisting container located at two ends of the traction rope; the method comprises the following steps:

acquiring operation parameters of the lifting system during operation, wherein the operation parameters comprise the current moving speed of a traction rope and the working temperature of a disc brake;

determining the working state of the lifting system according to the operation parameters;

if the lifting system is determined to be in an abnormal state, acquiring the current position of the target lifting container; the target lifting container is a lifting container which is loaded with a target object in the first lifting container and the second lifting container;

and controlling the target lifting container according to the current position and a preset target position.

In a second aspect, embodiments of the present application provide a control device for a hoisting system, where the hoisting system includes a traction rope, a disc brake for driving the traction rope to move, and a first hoisting container and a second hoisting container located at two ends of the traction rope; the device comprises:

the first acquisition module is used for acquiring operation parameters of the lifting system during operation, wherein the operation parameters comprise the current moving speed of a traction rope and the working temperature of a disc brake;

the determining module is used for determining the working state of the lifting system according to the operation parameters;

the second acquisition module is used for acquiring the current position of the target lifting container if the lifting system is determined to be in an abnormal state; the target lifting container is a lifting container which is loaded with a target object in the first lifting container and the second lifting container;

and the control module is used for controlling the target lifting container in the lifting system according to the current position and the preset target position.

In a third aspect, another embodiment of the present application provides a control device of a lifting system, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the method according to the first aspect.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the method according to the first aspect.

In a fifth aspect, embodiments of the present application provide a computer program product, which, when run on a terminal device, causes the terminal device to execute the method of the first aspect.

In a sixth aspect, embodiments of the present application provide a lifting system comprising a traction rope, a disc brake for driving the traction rope to move, a first lifting container and a second lifting container located at two ends of the traction rope, and a control device of the lifting system as described in the second or third aspect, wherein the first lifting container, the second lifting container and the disc brake are all connected with the control device.

Compared with the prior art, the embodiment of the application has the advantages that: the current moving speed of the traction rope and the working temperature of the disc brake during the operation of the lifting system are obtained, so that the working state of the lifting system is comprehensively judged, and the accuracy of judging the working state of the lifting system is improved. Then, when the lifting system is determined to be in an abnormal state according to the operation parameters, the current positions of the target lifting containers with the target objects loaded in the first lifting container and the second lifting container can be obtained, so that the target lifting containers are controlled according to the current positions and the preset target positions. Therefore, when a fault occurs in the transportation process of the lifting system, the target lifting container can be actively controlled, so that the trapped target object can be actively rescued, the trapped time of the target object is shortened, and the transportation safety of the lifting system is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a lifting system according to an embodiment of the present application;

fig. 2 is a flowchart illustrating an implementation of a control method of a hoisting system according to an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of a control device according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of a control device according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.

The secondary hoist in the mine hoist system is responsible for the transportation of personnel going down the well. At present, the vice lifting machine adopts friction formula lifting machine usually, and it can rely on the frictional force between haulage rope and the leading wheel and the gravity difference between the promotion container at haulage rope both ends to promote the container for if vice lifting machine breaks down at transportation personnel's process, then vice lifting machine chance stop operation immediately, will lead to personnel that the vice lifting machine carried to be stranded in the mine for a long time, and the potential safety hazard is big.

Based on this, in order to reduce the trapped time of the personnel carried when the auxiliary hoist is in failure, the embodiment of the application provides a control method of a hoisting system.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a lifting system according to an embodiment of the present disclosure. The lifting system 100 comprises a first lifting vessel 110, a second lifting vessel 120 and a control device 130, wherein the first lifting vessel 110 and the second lifting vessel 120 are connected to the control device 130 for performing the steps in the subsequent method embodiment.

Specifically, the lifting system further comprises a traction rope, a guide wheel, a disc brake and the like. Wherein, the both ends of haulage rope are connected first promotion container and second promotion container respectively. The disc brake is used for driving the traction rope to move on the guide wheel. Specifically, the disc brake includes a brake disc, an oil chamber, and a brake shoe. Wherein, the oil cavity is connected with the brake shoe; the disc brake pushes the brake shoe to generate pressure on the brake disc by adjusting the oil quantity in the oil cavity; the brake disc is used for driving the haulage rope according to pressure to make the haulage rope move on the leading wheel, and then drive the first promotion container and the second promotion container lift at haulage rope both ends.

Referring to fig. 2, fig. 2 is a flowchart illustrating an implementation of a control method for lifting a container according to an embodiment of the present application, where the method includes the following steps:

s201, obtaining operation parameters of the lifting system during operation, wherein the operation parameters comprise the current moving speed of the traction rope and the working temperature of the disc brake.

In application, the above-mentioned operation parameters include not only the current moving speed of the traction rope and the working temperature of the disc brake, but also the weight of the first lifting container and the weight of the second lifting container, which is not limited thereto.

Wherein, because of the both ends of haulage rope are connected first promotion container and second promotion container respectively usually, consequently, above-mentioned current translation rate can gather through the tacho sensor who sets up in first promotion container and/or second promotion container, and then acquire from the test sensor. In another embodiment the current displacement speed of the traction rope is also related to the rotational speed of the guide pulley, and thus the current displacement speed can also be determined by monitoring the rotational speed of the guide pulley. In this embodiment, the manner of obtaining the current moving speed when the hoisting system operates is not limited.

The working temperature of the disc brake can be measured by a temperature sensor and then acquired by the control device, which is not limited.

S202, determining the working state of the lifting system according to the operation parameters.

In application, the working states are divided into normal states and abnormal states. Specifically, for the current moving speed and the working temperature in the operation parameters, if the current moving speed is greater than a preset normal speed and/or the working temperature is greater than a preset normal working temperature, determining that the lifting system is in an abnormal state; and if the current moving speed is less than or equal to the preset normal speed and the working temperature is less than or equal to the normal working temperature, determining that the lifting system is in a normal state.

In application, the preset normal speed and the preset normal working temperature can be set by the operation of workers, and the setting is not limited. Illustratively, the preset normal speed may be 1m/s.

It is to be added that the control device should control the disc brake to stop driving the traction ropes in order to ensure the safety of the passengers when it is determined that the hoisting system is in an abnormal state. I.e. the hoisting system stops running.

In another embodiment, when the operation parameter is the weight of the first lifting container or the weight of the second lifting container, if the weight of the first lifting container or the weight of the second lifting container exceeds a preset maximum bearing weight, it should be determined that the lifting system is in an abnormal state. In this embodiment, the manner of determining the operating state of the lift system based on the operating parameters is not limited.

S203, if the lifting system is determined to be in an abnormal state, acquiring the current position of the target lifting container; the target lifting container is a lifting container with a target object loaded in the first lifting container and the second lifting container.

In the application, it has been described above that the disc brake is controlled to stop driving the traction rope when the hoisting system is in an abnormal state, and at this time, the first hoisting container and the second hoisting container located at both ends of the traction rope are also stopped. Thereafter, the control device may acquire the current position of the target hoist container at the current time.

It should be noted that when it is determined that the hoist system is in an abnormal state and the disc brake is controlled to stop driving the traction ropes, the traction ropes will not immediately stop moving due to inertia. Therefore, the control device should determine the position of the target lifting container at which the movement of the traction rope is stopped as the current position when acquiring the current position of the target lifting container.

The target lifting container is a lifting container which is loaded with a target object in the first lifting container and the second lifting container. Generally, the number of the target lifting containers should be one.

In an application, the current position may be a relative position with a start position or an end position of the target lifting container as an origin, which is not limited. The control device may determine the current position according to the distance measuring sensor located on the target lifting container, which is not limited herein.

In application, the target object includes, but is not limited to, a human, an animal, a mine resource, or other objects.

In another embodiment, the weight of the first or second lifting container should generally remain unchanged when it is not carrying the target object. Therefore, the control device can also compare the weight of the first lifting container or the weight of the second lifting container with the original weight of the first lifting container or the second lifting container to determine the target lifting container.

And S204, controlling the target lifting container according to the current position and a preset target position.

In an application, the target position may be a start position or an end position of the target lifting container, and is not limited in this respect. It will be appreciated that when the target hoist container is in a lowering motion, its starting position is the mine exit position and its ending position is the mine bottom position. Conversely, the starting position of the target hoist container in the upward movement is the mine bottom position and the end position is the mine exit position, which will not be described in detail.

In application, the controlling of the target lifting container may be: the control target hoist container reaches the start position or the end position, and may also stop moving for the control target hoist container. Specifically, the control termination may determine a separation distance between the current position and the target position; and then, if the spacing distance is smaller than or equal to the preset distance, controlling the lifting system to stop working.

In application, the preset distance may be preset by a worker. Illustratively, the predetermined distance is 0.5m. It will be appreciated that when the separation distance is less than the predetermined distance, i.e. the target vessel has just left the starting position, or is about to reach the end position. At this time, for the target object in the target lifting container, the rescuer may rescue the target object directly at the start position or the end position. Therefore, the control device does not need to control the target lifting container so as to avoid secondary damage to the lifting system.

In another embodiment, if the spacing distance is greater than the preset distance and the working temperature of the disc brake is less than or equal to the normal working temperature, controlling the disc brake to output a second braking torque; the second braking torque is smaller than the braking torque output by the disc brake when the lifting system is in an abnormal state.

It can be understood that, if the separation distance is greater than the preset distance, it indicates that the separation distance between the target lifting container and the target position is relatively long, and the rescuers cannot rescue the target object of the target lifting container directly at the starting position or the ending position. The control device can thus also control the hoisting system again in dependence on the operating parameters of the hoisting system during operation.

It should be noted that, if the operating temperature of the disc brake is less than or equal to the normal operating temperature, it indicates that the abnormal state of the hoisting system is caused not by the operating temperature of the disc brake but by the current moving speed of the traction rope exceeding the preset normal speed. Based on this, the control termination may control the disc brake to output the second braking torque in order to decrease the current moving speed of the traction rope.

Wherein the second braking torque should be smaller than the braking torque output by the disc brake when the hoisting system is in an abnormal state. Based on this, the haulage rope can be made to slowly drive the target lifting container to move so as to ensure the safety of the target object.

In another embodiment, the second braking torque should be smaller than the braking torque output by the disc brake when the lifting system is in an abnormal state, and should also be smaller than the braking torque output by the disc brake when the traction rope moves at a preset normal speed. Otherwise, the hoist system will still be in an abnormal state.

Similarly, if the spacing distance is greater than the preset distance and the working temperature of the disc brake is greater than the normal working temperature, the disc brake is controlled to stop working.

It will be appreciated that at operating temperatures of the disc brake greater than the normal operating temperature, this is an indication that the disc brake is not suitable for operation at that time. Therefore, the control termination can directly control the disc brake to stop working until the working temperature of the disc brake is lower than the normal working temperature.

In the embodiment, the current moving speed of the traction rope during the operation of the lifting system and the working temperature of the disc brake are obtained to comprehensively judge the working state of the lifting system, so that the accuracy of judging the working state of the lifting system is improved. Then, when the lifting system is determined to be in an abnormal state according to the operation parameters, the current positions of the target lifting containers with the target objects loaded in the first lifting container and the second lifting container can be obtained, so that the target lifting containers are controlled according to the current positions and the preset target positions. Therefore, when a fault occurs in the transportation process of the lifting system, the target lifting container can be actively controlled, so that the trapped target object can be actively rescued, the trapped time of the target object is shortened, and the transportation safety of the lifting system is improved.

In another embodiment, if the current moving speed is less than or equal to the preset normal speed and the working temperature is less than or equal to the normal working temperature, it is determined that the lifting system is in the normal state. At this time, in order to further enable the traction rope to stably drive the target lifting container to operate, the control device may further control the braking torque output by the disc brake according to the current moving speed.

Specifically, if the current moving speed is equal to a preset target speed, maintaining a first braking torque currently output by the disc brake unchanged; and if the current moving speed is not equal to the preset target speed, adjusting the first braking torque currently output by the disc brake according to the target speed and the current moving speed.

In application, the target speed can be set according to actual conditions, and for example, the target speed can be 0.8m/s. It will be appreciated that when the current speed of movement is equal to the preset target speed, it indicates that the pull-cord is now moving at the target speed. Therefore, the control device can maintain the first brake torque currently output by the disc brake.

However, the current moving speed may be greater or less than the target speed due to other external influences (e.g., temperature and humidity of the lifting system operation). In order to keep the current moving speed of the traction rope stable, the first braking torque output by the penalty brake should be adjusted.

Specifically, if the current moving speed is greater than the target speed and the difference between the current moving speed and the target speed is greater than a preset speed threshold, the first braking torque is reduced to a first target braking torque; the difference between the first target braking torque and the first braking torque is a preset torque; if the current moving speed is smaller than the target speed and the difference value between the current moving speed and the target speed is smaller than or equal to a preset speed threshold, increasing the first braking torque to a second target braking torque; the difference between the second target braking torque and the first braking torque is a preset torque.

In application, if the speed difference between the current moving speed and the target speed is greater than the preset speed threshold value, and the current moving speed is greater than the target speed, it indicates that the first braking torque output by the disc brake is too large. Thus, the hoist system may reduce the first brake torque to the first target brake torque to reduce the current moving speed of the traction rope to gradually reduce the current moving speed to the target speed.

Similarly, as can be seen from the above explanation, if the speed difference between the current moving speed and the target speed is less than or equal to the preset speed threshold, and the current moving speed is less than the target speed, it indicates that the second braking torque output by the disc brake is too small. Therefore, the lifting system can increase the first braking torque to the second target braking torque to lift the current moving speed of the traction rope, so that the current moving speed is gradually increased to the target speed.

The preset speed threshold and the preset torque can be preset according to actual conditions, and are not limited. For example, in the present embodiment, the preset speed threshold may be 0.

It should be noted that, if the current moving speed is greater than the target speed, and the difference between the current moving speed and the target speed is greater than the preset speed threshold, and after the first braking torque is reduced to the first target braking torque, the moving speed of the traction rope at the next moment may be smaller than the target speed. But the difference between its moving speed and the target speed at the next moment will typically be less than or equal to the preset speed threshold. At this time, the control device may not need to adjust the first target braking torque. Otherwise, the preset torque is increased for the first target braking torque, and the braking torque output by the disc brake is the first braking torque.

Referring to fig. 3, fig. 3 is a block diagram of a control device of a lifting system according to an embodiment of the present disclosure. The control device of the lifting system in this embodiment includes modules for executing the steps in the embodiment corresponding to fig. 2. Please refer to fig. 2 and the related description of the embodiment corresponding to fig. 2. For convenience of explanation, only the portions related to the present embodiment are shown. The lifting system comprises a traction rope, a disc brake for driving the traction rope to move, and a first lifting container and a second lifting container which are positioned at two ends of the traction rope; referring to fig. 3, the control device 300 may include: a first obtaining module 310, a determining module 320, a second obtaining module 330, and a control module 340, wherein:

a first obtaining module 310 is configured to obtain operating parameters of the hoisting system during operation, where the operating parameters include a current moving speed of the traction rope and an operating temperature of the disc brake.

A determining module 320 for determining an operating state of the hoisting system based on the operating parameter.

A second obtaining module 330, configured to obtain a current position of the target lifting container if it is determined that the lifting system is in an abnormal state; the target lifting container is a lifting container with a target object loaded in the first lifting container and the second lifting container.

And the control module 340 is configured to control the target lifting container in the lifting system according to the current position and a preset target position.

In an embodiment, the determining module 320 is further configured to:

if the current moving speed is higher than the preset normal speed and/or the working temperature is higher than the preset normal working temperature, determining that the lifting system is in an abnormal state; and if the current moving speed is less than or equal to the preset normal speed and the working temperature is less than or equal to the normal working temperature, determining that the lifting system is in a normal state.

In one embodiment, the control device 300 further comprises:

and the maintaining module is used for maintaining the first braking torque currently output by the disc brake unchanged if the current moving speed is equal to the preset target speed.

And the adjusting module is used for adjusting the first braking torque currently output by the disc brake according to the target speed and the current moving speed if the current moving speed is not equal to the preset target speed.

In one embodiment, the adjustment module is further configured to:

if the current moving speed is greater than the target speed and the difference value between the current moving speed and the target speed is greater than a preset speed threshold, reducing the first braking torque to a first target braking torque; the difference between the first target braking torque and the first braking torque is a preset torque; if the current moving speed is smaller than the target speed and the difference value between the current moving speed and the target speed is smaller than or equal to a preset speed threshold, increasing the first braking torque to a second target braking torque; the difference between the second target braking torque and the first braking torque is a preset torque.

In an embodiment, the second obtaining module 330 is further configured to:

if the lifting system is determined to be in an abnormal state, controlling the disc-shaped brake to stop driving the traction rope; and determining the position of the target lifting container when the traction rope stops moving as the current position.

In one embodiment, the target position comprises a start position or an end position of the target lift vessel; the control module 340 is further configured to:

determining a spacing distance between the current position and the target position; and if the spacing distance is less than or equal to the preset distance, controlling the lifting system to stop working.

In one embodiment, the control module 340 is further configured to:

if the spacing distance is greater than the preset distance and the working temperature of the disc brake is less than or equal to the normal working temperature, controlling the disc brake to output a second braking torque; the second braking torque is smaller than the braking torque output by the disc brake when the lifting system is in an abnormal state; and if the spacing distance is greater than the preset distance and the working temperature of the disc brake is greater than the normal working temperature, stopping the disc brake.

It should be understood that, in the structural block diagram of the control device of the hoisting system shown in fig. 3, each module is used to execute each step in the embodiment corresponding to fig. 2, and each step in the embodiment corresponding to fig. 2 has been explained in detail in the above embodiment, and please refer to fig. 2 and the related description in the embodiment corresponding to fig. 2 specifically, which is not repeated herein.

Fig. 4 is a block diagram of a control device of a lift system according to another embodiment of the present disclosure. As shown in fig. 4, the control device 400 of this embodiment includes: a processor 410, a memory 420, and a computer program 430, such as a program for a control method of a lift system, stored in the memory 420 and executable on the processor 410. The processor 410 executes the computer program 430 to implement the steps in the embodiments of the control method of each lifting system described above, such as S201 to S204 shown in fig. 2. Alternatively, the processor 410, when executing the computer program 430, implements the functions of the modules in the embodiment corresponding to fig. 3, for example, the functions of the modules 310 to 340 shown in fig. 3, and refer to the related description in the embodiment corresponding to fig. 3.

Illustratively, the computer program 430 may be divided into one or more modules, and the one or more modules are stored in the memory 420 and executed by the processor 410 to implement the control method of the lifting system provided by the embodiment of the present application. One or more of the modules may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 430 in the control device 400. For example, the computer program 430 may implement the control method of the hoisting system provided in the embodiment of the present application.

The control device 400 may include, but is not limited to, a processor 410, a memory 420. It will be understood by those skilled in the art that fig. 4 is merely an example of the control apparatus 400, and does not constitute a limitation of the control apparatus 400, and may include more or less components than those shown, or combine some components, or different components, for example, the terminal device may further include an input-output device, a network access device, a bus, etc.

The processor 410 may be a central processing unit, but may also be other general purpose processors, digital signal processors, application specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 420 may be an internal storage unit of the control apparatus 400, such as a hard disk or a memory of the control apparatus 400. The memory 420 may also be an external storage device of the control apparatus 400, such as a plug-in hard disk, a smart memory card, a flash memory card, etc. provided on the control apparatus 400. Further, the memory 420 may also include both an internal storage unit of the control apparatus 400 and an external storage device.

The embodiment of the present application provides a computer-readable storage medium, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the method for controlling a hoisting system as in the above embodiments is implemented.

Embodiments of the present application provide a computer program product, which, when running on a terminal device, enables the terminal device to execute the control method of the hoisting system in the above embodiments.

The embodiment of the application provides a lifting system, which comprises a traction rope, a disc brake for driving the traction rope to move, a first lifting container and a second lifting container which are arranged at two ends of the traction rope, and a control device of the lifting system in the embodiment, wherein the first lifting container, the second lifting container and the disc brake are all connected with the control device.

The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present application, and they should be construed as being included in the present application.

Claims (10)

1. A control method of a hoisting system, characterized in that the hoisting system comprises a traction rope, a disc brake for driving the traction rope to move, and a first hoisting container and a second hoisting container at both ends of the traction rope; the method comprises the following steps:

obtaining operating parameters of the hoisting system during operation, wherein the operating parameters comprise the current moving speed of the traction rope and the working temperature of the disc brake;

determining the working state of the lifting system according to the operation parameters;

if the lifting system is determined to be in an abnormal state, acquiring the current position of a target lifting container; the target lifting container is a lifting container loaded with a target object in the first lifting container and the second lifting container;

and controlling the target lifting container according to the current position and a preset target position.

2. The method of claim 1, wherein said determining an operating state of said lift system based on said operating parameters comprises:

if the current moving speed is higher than a preset normal speed and/or the working temperature is higher than a preset normal working temperature, determining that the lifting system is in the abnormal state;

and if the current moving speed is less than or equal to the preset normal speed and the working temperature is less than or equal to the normal working temperature, determining that the lifting system is in a normal state.

3. The method of claim 2, further comprising, after the determining that the hoist system is in the normal state:

if the current moving speed is equal to a preset target speed, maintaining the first brake torque currently output by the disc brake unchanged;

and if the current moving speed is not equal to a preset target speed, adjusting the first braking torque currently output by the disc brake according to the target speed and the current moving speed.

4. The method of claim 3, wherein said adjusting the first brake torque currently output by the disc brake based on the target speed and the current movement speed comprises:

if the current moving speed is greater than the target speed and the difference value between the current moving speed and the target speed is greater than a preset speed threshold, reducing the first braking torque to a first target braking torque; the difference between the first target braking torque and the first braking torque is a preset torque;

if the current moving speed is smaller than the target speed, and the difference value between the current moving speed and the target speed is smaller than or equal to the preset speed threshold, increasing the first braking torque to a second target braking torque; the difference between the second target braking torque and the first braking torque is the preset torque.

5. The method of any one of claims 1-4, wherein obtaining the current position of the target lifting vessel if the lifting system is determined to be in an abnormal state comprises:

if the lifting system is determined to be in an abnormal state, controlling the disc brake to stop driving the traction rope;

determining the current position as the position of the target lifting container when the hauling cable stops moving.

6. The method of any one of claims 1-4, wherein the target position comprises a start position or an end position of the target lift vessel; the controlling the target lifting container according to the current position and a preset target position comprises:

determining a separation distance between the current location and the target location;

and if the spacing distance is less than or equal to the preset distance, controlling the lifting system to stop working.

7. The method of claim 6, further comprising, after said determining the separation distance between the current location and the target location:

if the spacing distance is greater than the preset distance and the working temperature of the disc brake is less than or equal to the normal working temperature, controlling the disc brake to output a second braking torque; the second braking torque is smaller than the braking torque output by the disc brake when the lifting system is in the abnormal state;

and if the spacing distance is greater than the preset distance and the working temperature of the disc brake is greater than the normal working temperature, controlling the disc brake to stop working.

8. A control device of a hoisting system, characterized in that the hoisting system comprises a traction rope, a disc brake for driving the traction rope to move, and a first hoisting container and a second hoisting container which are arranged at two ends of the traction rope; the device comprises:

the first acquisition module is used for acquiring operation parameters of the lifting system during operation, and the operation parameters comprise the current moving speed of the traction rope and the working temperature of the disc brake;

the determining module is used for determining the working state of the lifting system according to the operating parameters;

the second acquisition module is used for acquiring the current position of the target lifting container if the lifting system is determined to be in an abnormal state; the target lifting container is a lifting container loaded with a target object in the first lifting container and the second lifting container;

and the control module is used for controlling the target lifting container in the lifting system according to the current position and a preset target position.

9. A control device of a hoisting system comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any one of claims 1 to 7 when executing the computer program.

10. A hoisting system comprising a hoisting rope, a disc brake for driving the hoisting rope to move, a first hoisting container and a second hoisting container at both ends of the hoisting rope, and a control device of the hoisting system as claimed in claim 8 or 9, the first hoisting container, the second hoisting container and the disc brake being connected to the control device.

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