WO2014047840A1

WO2014047840A1 - Crane control method, system and crane based on image processing

Info

Publication number: WO2014047840A1
Application number: PCT/CN2012/082181
Authority: WO
Inventors: 阳云华; 李桂芳; 李宇力; 何首文
Original assignee: 中联重科股份有限公司; 湖南中联重科专用车有限责任公司
Priority date: 2012-09-27
Filing date: 2012-09-27
Publication date: 2014-04-03

Abstract

A crane control method, a system and a crane based on image processing are disclosed. The control method comprises: in the double lifting mechanism of a crane, obtaining the image respectively that can reflect the winding state of the ropes wound on the drum of the lifting mechanism; decoding the image obtained and binaryating the image respectively so as to generate two data matrix; comparing the two data matrix so as to judge whether the hook crossbeam inclines; and adjusting the rotating speed of the motor so that the hook crossbeam tends to level when the hook crossbeam inclines. Said technical solution can judge whether the hook crossbeam inclines by processing the image, and adjust the motor rotating speed in case of the tilt so that the hook crossbeam tends to level, thus can avoid the problems caused by the tilt of the hook crossbeam.

Description

Crane control method, system and crane based on image processing

The present invention relates to the field of construction machinery, and in particular to a method, apparatus, control method, system for a crane including a double hoisting mechanism, and a crane including the same. Background technique

The existing tower crane generally adopts a double lifting mechanism to lift the object, and each lifting mechanism is composed of a motor, a reel, and a wire rope, and the double lifting mechanism drives a hook beam to lift and lower to lift the object. .

However, when the double lifting mechanism is working at the same time, the hook beam is inclined due to the difference in motor characteristics, the manufacturing error of the drum, and the condition of the rope. At this time, the wire rope is unbalanced. If it is operated for a long time, it will cause the structure, the transmission mechanism, the electrical components and other eccentric loads. In severe cases, it may cause the hoist to fall or the equipment to be damaged. Summary of the invention

SUMMARY OF THE INVENTION It is an object of the present invention to provide a method, apparatus, control method, system for a crane including a double hoisting mechanism, and a crane including the same for determining a winding state of a rope of a reel.

In order to achieve the above object, the present invention provides a method for determining a winding state of a rope of a reel, the method comprising: acquiring an image reflecting a state of winding of a rope on the reel; decoding and binarizing the image Processing to generate a data matrix; and determining a rope winding state on the reel based on the data matrix.

Accordingly, the present invention also provides an apparatus for determining a winding state of a rope of a reel, the apparatus comprising: an image collecting device for acquiring an image reflecting a state of winding of the rope on the reel; and a control device, And used for decoding and binarizing the image to generate a data matrix; and determining a winding state of the rope on the reel based on the data matrix.

Correspondingly, the present invention also provides a control method for a crane including a double hoisting mechanism, the double hoisting mechanism comprising a first hoisting mechanism and a second hoisting mechanism, the first hoisting mechanism and the second hoisting mechanism Each includes a reel, a cord wound around the reel, and a motor that drives the reel to rotate, the first hoisting mechanism and the second hoisting mechanism for driving the hook beam to ascend and descend, the method comprising: separately obtaining An image of a winding state of the rope on the reel of the first hoisting mechanism and an image reflecting a state of winding of the rope on the reel of the second hoisting mechanism; and decoding and binary values of the acquired image respectively Processing to generate two data matrices; comparing the two data matrices to determine whether the hook beam is tilted; and adjusting the hook when the hook beam is tilted The rotational speed of the motor is such that the hook beam tends to level.

Correspondingly, the present invention also provides a control system for a crane including a double hoisting mechanism, a first hoisting mechanism and a second hoisting mechanism, the first hoisting mechanism and the second hoisting mechanism The utility model comprises a reel, a rope wound on the reel, and a motor for driving the reel, wherein the first hoisting mechanism and the second hoisting mechanism are used for driving the lifting and lowering of the hook beam, the system comprises: an image collecting device And an image for respectively reflecting a winding state of the rope on the reel of the first hoisting mechanism and an image reflecting a winding state of the rope on the reel of the second hoisting mechanism; and a control device for executing The following operations: respectively decoding and binarizing the acquired images to generate two data matrices; comparing the two data matrices to determine whether the hook beam is tilted; and tilting the hook beam In the case of the motor, the rotational speed of the motor is adjusted such that the hook beam tends to be horizontal.

Accordingly, the present invention also provides a crane including the above-described control system for a crane including a double hoisting mechanism.

Through the above technical solution, whether the hook beam is tilted can be determined by image processing, and the motor rotation speed is adjusted in the case of tilting, so that the hook beam tends to be horizontal, thereby avoiding the factors mentioned in the background art. The problem caused by the tilting of the hook beam.

Other features and advantages of the invention will be described in detail in the detailed description which follows. DRAWINGS

The drawings are intended to provide a further understanding of the invention, and are intended to be a In the drawing:

1 is a schematic structural view of a system for determining a winding state of a rope of a reel according to the present invention; FIG. 2 is a schematic view showing a layout of an image collecting device and a reel;

Figure 3 is an image acquired by image acquisition;

Figure 4 is a flow chart of image processing;

Figure 5 is a data matrix corresponding to the image shown in Figure 3;

6A, 6B and 6C are respectively a schematic diagram of a rope winding state being a normal state, a stacked rope state, and a hopping state, and corresponding data matrices;

7A and 7B are respectively schematic diagrams of the winding state of the rope in the synchronous and unsynchronized state of the double lifting mechanism; FIG. 8 is a schematic view showing the arrangement of the inclination sensor on the hook beam;

9A, 9B, 9C, and 9D show the hook of the crane with the double hoisting mechanism in the top a schematic diagram of the warning position, the lifting and deceleration position, the lifting emergency braking position and the top position and the corresponding data matrix;

10A, FIG. 10B, FIG. 10C, and FIG. 10D are respectively a schematic diagram of a hook of a crane having a single hoisting mechanism in a top warning position, a lifting and deceleration position, a lifting emergency braking position, and a topping position, respectively, and corresponding data matrices. . Description of the reference numerals

10, 10a, 10b image acquisition device inclination sensor

21 hook beam 22 solar panel

23 Battery 24 Wireless Transmission Module

30 Current Sense Pack 40 Motor

50 brake mechanism 60a, 60b reel

70, 70a, 70b rope 80 bottom plate

100 control unit 25 boom

26 load trolley 27 horn trolley

29 hooks

The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are intended to be illustrative and not restrictive.

FIG. 1 is a schematic structural view of a system for determining a winding state of a rope of a reel according to the present invention. As shown in FIG. 1, the present invention provides a control system for a crane including a double hoisting mechanism, the double hoisting mechanism including a first hoisting mechanism and a second hoisting mechanism, the first hoisting mechanism and the second The hoisting mechanism comprises a reel, a rope wound on the reel, and a motor for driving the reel, the first hoisting mechanism and the second hoisting mechanism for driving the lifting and lowering of the hook beam, the system comprising The image capturing device 10 is configured to respectively acquire an image that reflects a winding state of the rope on the reel of the hoisting mechanism for the double hoisting mechanism; and the control device 100 is configured to: perform the following operations on the acquired image Performing decoding and binarization processing respectively to generate two data matrices; comparing the two data matrices to determine whether the hook beam is tilted; and adjusting the motor when the hook beam is tilted The rotational speed is such that the hook beam tends to be horizontal.

2 is a schematic view showing the layout of an image capture device and a reel. As shown in Figure 2, two for the double lifting mechanism The reels 60a, 60b (the two reels are respectively wound with ropes 70a and 70b) are respectively provided with an image collecting device 10a, 10b, which can collect the arrangement of the ropes on the reel. The image acquired by the image capture device is shown in Figure 3, reference numeral 80 represents the reel bottom plate, and reference numeral 70 represents the tether wound on the reel bottom plate.

Figure 4 is a flow chart of image processing. As shown in Fig. 4, first, an image which reflects the state of winding of the rope on the reel is obtained by the image pickup device. Thereafter, the control device decodes and binarizes the image to generate a data matrix (the data matrix corresponding to the image shown in FIG. 3 is as shown in FIG. 5, and the value in the data matrix corresponds to the pixel in the image. a pixel of the display object (eg, a rope or a bottom plate, etc.) in the image corresponds to data "1" in the data matrix, and pixels of the object not displayed in the image (eg, pixels indicating blank) correspond to the data matrix The data “0” can of course be reversed. For example, the pixel of the display object in the image corresponds to the data “0” in the data matrix, and the pixel of the object not displayed in the image corresponds to the data in the data matrix. '). Thereafter, the rope winding state on the reel can be determined based on the data matrix, which will be described in detail below.

Preferably, before the binarization processing of the image, the control device may further perform grayscale and denoising processing on the image, thereby improving the accuracy of image binarization.

6A, 6B, and 6C are schematic diagrams showing a state in which the rope winding state is a normal state, a stacked rope state, and a hopping state, and corresponding data matrices, and FIG. 6A, FIG. 6B, and FIG. 6C and the following figures are respectively illustrated. 7A, the rope winding state shown in Fig. 7B shows only the upper half of the reel, and the lower half is not shown, and the corresponding data matrix is only for the upper half. In fact, whether it is the upper part, the lower part of the reel or a part of the part (for example, the telescopic winding state of a part of the reel), as long as it can be judged according to its corresponding data matrix ( For example, it is sufficient to judge whether the rope is chaotic, the position of the hook, etc., and for the chaotic rope, the winding state of each part of the reel may cause the chaotic rope, so ideally, according to each part of the reel (for example, At the same time, consider the entanglement state of the upper part and the lower part) to judge whether or not a rope is generated. For the purpose of simplifying the description of the present invention, only the above half will be described as an example. As shown in Fig. 6A, Fig. 6B, and Fig. 6C, in the data matrix displayed therein, the value "0" represents the absence of an object (e.g., a rope or a bottom plate, etc.), and the value "1" represents an existing object. It can be clearly seen from the figure that the left and right columns in the data matrix represent the baffles on the reel bottom plate. In the data matrix of Fig. 6A, the fourth row can represent the arrangement of the ropes on the surface of the reel, which is Rule arrangement; In the data matrix of Fig. 6B, the third row and the fourth row may represent the arrangement of the ropes on the surface of the reel, which is a stacked rope state, that is, an irregular arrangement; in the data matrix of Fig. 6C, the fourth row It can represent the arrangement of the ropes on the surface of the reel, which is a state of hopping, that is, an irregular arrangement. Thereby, the winding state of the rope on the reel can be determined based on the data matrix.

Specifically, determining the rope winding state on the reel based on the data matrix may include: Selecting data of a predetermined area as a judgment matrix in the data matrix (refer to the matrix defined by the frame of the data matrix shown in FIG. 6A, FIG. 6B, and FIG. 6C); determining the reel according to the numerical distribution rule of the judgment matrix The rope on the winding state. In the judgment matrix, the value "0" represents the absence of a rope, and the value "1" represents the presence of a rope, in the case where the judgment matrix represents a discontinuity in the row of the rope winding state on the reel, Then, it is determined that the winding state of the rope on the reel is in a chaotic state. Of course, only one way of determining the winding state of the rope according to the data matrix is exemplified herein. The present invention is not limited thereto, and any method for determining the winding state of the rope based on the data matrix is applicable to this. For example, a judgment matrix may be adopted. In the judgment matrix, the value "0" represents the absence of an object (for example, a rope, a baffle or other object) and the value "1" represents the existence of the object, or the value "0" represents the presence of the object and the value "1" represents the absence of the object. Object.

7A and 7B are schematic diagrams showing the winding state of the rope in the synchronized and unsynchronized state of the double hoisting mechanism, respectively. As shown in FIG. 7A and FIG. 7B, in the case where the hoisting mechanism is synchronized, the data matrix obtained according to the image acquired by the image capturing device should be the same, and in the case where the hoisting mechanism is not synchronized, according to the image collecting device The data matrix obtained from the acquired images should be different. Thereby, it can be judged whether or not the hoisting mechanism is synchronized, and the hook beam is necessarily inclined when the hoisting mechanism is not synchronized.

The above describes how to determine whether the hook beam is tilted according to the image captured by the image acquisition device. How to determine whether the hook beam is tilted or not can be performed in the following two ways:

(1) Tilt sensor

Figure 8 is a schematic view showing the arrangement of the inclination sensor on the hook beam. As shown in FIG. 8, the tilt sensor 20, the solar panel 22, the battery 23, and the wireless transmission module 24 are all located on the hook beam 21, and the solar panel 22 and the battery 23 supply power to the tilt sensor 20 and the wireless transmission module 24, and the tilt sensor The angle of inclination of the hook beam 21 can be detected and transmitted to the control device via the wireless transmission module 24. The control device can determine whether the hook beam is tilted according to the received tilt angle.

(2) Current detecting device

As shown in FIG. 1, the current detecting device 30 can detect the current of the motor of the double hoisting mechanism and transmit the current magnitude of the current to the control device. The control device may determine that the hook beam is tilted when the absolute value of the difference of the currents is greater than a preset value. The current can represent the output torque of the motor. When the current of the motor of the hoisting mechanism is significantly larger than the current of the motor of the other hoisting mechanism, the output torque of the double hoisting mechanism is different, which causes the fact. That is, the hook beam is inclined, so that the torque applied to the double lifting mechanism by the lifting object is different, and the output torque of the double lifting mechanism is different. In this way, it is also possible to determine whether the hook beam is tilted. The above describes three ways to determine whether the hook beam is sent obliquely. When the hook beam is tilted by any means, the motor speed of the double lifting mechanism should be adjusted to make the hook beam level. For example, when the hook beam is inclined toward the lifting mechanism, the lifting speed of the lifting mechanism is too slow, and the rotation speed of the motor of the lifting mechanism can be increased, and the hook beam can be leveled (according to the inclination of the inclination sensor output) When judging), the motor speed of the hoisting mechanism is adjusted to be the same as the motor speed of the other hoisting mechanism.

In fact, there are many reasons for the inclination of the hook beam, and one of the ropes is one of them. If the wire rope is poorly arranged on the reel (ie, chaotic rope), it will cause the steel wire to be crushed and worn, and a huge impact load will be generated during the rope discharging process. The accumulation of a long time will eventually lead to structural damage and wire rope breakage, which will cause significant Security incident. To this end, preferably, the control device is further configured to: determine, according to the data matrix, a rope winding state of the hoisting mechanism; a rope winding state of any of the double hoisting mechanisms is disordered In the rope state, the double hoisting mechanism is controlled to stop driving the hook beam to lift. At this time, the control device can control the double hoisting mechanism to lower the hoisting weight, re-arrange the rope by manual intervention, and return the rope winding state to the normal state. Thereby, the winding state of the rope can be identified by means of image acquisition by the image collecting device, and in the case of a disordered rope, the problem of the rope can be solved in time to avoid a safety accident.

Through the above data matrix, it is also possible to know the number of winding layers of the rope on the reel and the position of the currently released rope on the reel, thereby obtaining how long the rope is released, and thus accurately determining the position of the hook. . In order to prevent the hook beam from being topped, preferably, the control device is further configured to: perform at least one of: operating a data matrix of the two data matrices with a top warning position data matrix (eg, the top warning The position data matrix can be compared for the data matrix shown in FIG. 9A, and when the two are equal, a hook top warning signal is issued to alert the operator to the deceleration alarm signal; one of the two data matrices is The matrix is compared with a hoisting deceleration position data matrix (eg, the hoist deceleration position data matrix can be the data matrix shown in FIG. 9B), and when the two are equal and the double hoisting mechanism is not decelerating, the Double lifting mechanism deceleration; and a data matrix of the two data matrices and a lifting emergency braking position data matrix (eg, the lifting emergency braking position data matrix may be the data matrix shown in FIG. 9C) For comparison, and when the two are equal and the double hoisting mechanism does not stop lifting, the brake mechanism 50 is controlled to brake and brake the double hoisting mechanism. When the hook beam is at a certain height, the data matrix obtained by the image acquisition device is obtained, and the height of the hook beam can be determined by the image acquisition state, and the height is equal to the predetermined height. At the same time, the corresponding control operation is carried out to avoid the top of the hook beam. 9A, 9B, 9C, and 9D are schematic diagrams and corresponding data matrices of the crane with the double hoisting mechanism in the top warning position, the hoisting deceleration position, the hoisting emergency braking position, and the topping position, respectively. , and it should be noted that, in order to simplify the description, FIG. 9A, FIG. 9B, FIG. 9C and The data matrix shown in Fig. 9D is a data matrix corresponding to the winding state of the upper half of the reel. The solution of the present invention can solve three problems by combining a plurality of kinds of information (ie, image information, tilt information, current size information): (1) tilting of the anti-hook beam; (2) anti-corruption rope; (3) The anti-hook beam is topped. It should be noted that the rope winding state of the reel is determined here, whether the chaotic rope is determined according to the winding state, and the position of the hook is determined according to the winding state, and is not limited to the crane, and can also be applied to the hoisting machine such as the rotary drilling rig. Constructed in the device. In addition to the anti-hook beam inclination, the anti-corruption rope and the anti-hook beam top are not limited to the double lifting mechanism, and the single lifting mechanism is also applicable. For example, FIG. 10A, FIG. 10B, FIG. 10C and FIG. 10D respectively have a single lifting mechanism. The crane's hook is in the top warning position, the lifting and deceleration position, the lifting emergency braking position and the top position and the corresponding data matrix. The single lifting mechanism may not directly involve the hook beam, but directly drives the hook lifting .

Accordingly, the present invention also provides a method for determining a winding state of a rope of a reel, the method comprising: acquiring an image reflecting a state of winding of the rope on the reel; decoding and binarizing the image Processing to generate a data matrix; and determining a rope winding state on the reel based on the data matrix.

Accordingly, the present invention also provides a control method for a crane including a double hoisting mechanism, the hoisting mechanism comprising a reel, a rope wound on the reel, and a motor for driving the reel, the pair a lifting mechanism for driving the hook beam to lift and lower, the method comprising: acquiring, for the double lifting mechanism, an image that reflects a winding state of the rope on the reel of the lifting mechanism; Performing decoding and binarization processing respectively to generate two data matrices; comparing the two data matrices to determine whether the hook beam is tilted; and adjusting the motor when the hook beam is tilted The rotational speed is such that the hook beam tends to be horizontal.

The specific details and benefits of the above method are the same as or corresponding to those of the above control system, and will not be described herein. Accordingly, the present invention also provides a crane comprising the above-described control system for a crane including a double hoisting mechanism.

The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments, and various simple modifications of the technical solutions of the present invention may be made within the scope of the technical idea of the present invention. These simple variations are within the scope of the invention.

It should be further noted that the specific technical features described in the above specific embodiments may be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the invention may not be further described in various possible combinations.

In addition, any combination of various embodiments of the invention may be made, as long as it does not deviate from the idea of the invention, and it should be regarded as the disclosure of the invention.

Claims

Claims A method for determining a winding state of a rope of a reel, the method comprising:

Obtaining an image that reflects a state of winding of the rope on the reel;

Decoding and binarizing the image to generate a data matrix;

Based on the data matrix, a state of winding of the rope on the reel is determined.

The method according to claim 1, wherein before the binarizing the image, the method further comprises: performing grayscale and denoising processing on the image.

The method according to claim 1 or 2, wherein determining the winding state of the rope on the reel based on the data matrix comprises:

Selecting data of a predetermined area from the data matrix as a judgment matrix;

According to the numerical distribution law of the judgment matrix, the winding state of the rope on the reel is determined.

4. The method according to claim 3, wherein a value of "0" represents the absence of a rope, and a value of "1" represents the presence of a rope, in the judgment matrix representing a winding state of the rope on the reel. In the case where the 1 is not continuous, it is determined that the winding state of the rope on the reel is in a chaotic state.

5. An apparatus for determining a winding state of a rope of a reel, the apparatus comprising:

An image acquisition device, configured to acquire an image that reflects a state of winding of the rope on the reel; and control means for decoding and binarizing the image to generate a data matrix; determining, based on the data matrix, The rope on the reel is wound.

The device according to claim 5, wherein the control device is further configured to perform grayscale and denoising processing on the image before performing binarization processing on the image.

The device according to claim 5 or 6, wherein the control device is configured to select data of a predetermined area from the data matrix as a judgment matrix; and determine a location according to a numerical distribution rule of the judgment matrix The rope winding state on the reel.

8. Apparatus according to claim 7, characterized in that the value "0" represents the absence of a rope, the value "1" represents the presence of a rope, said control means for representing said reel in said decision matrix In the case where the one of the rows of the rope winding state is discontinuous, it is determined that the winding state of the rope on the reel is in a chaotic state.

9. A control method for a crane including a double hoisting mechanism, the double hoisting mechanism comprising a first hoisting mechanism and a second hoisting mechanism, the first hoisting mechanism and the second hoisting mechanism each comprising a reel, a rope wound on the reel and a motor for driving the reel, the first hoisting mechanism and the second hoisting mechanism for driving the hook beam to ascend and descend, the method comprising:

Obtaining an image respectively reflecting a state in which the rope is wound on the reel of the first hoisting mechanism and an image reflecting a winding state of the rope on the reel of the second hoisting mechanism;

Decoding and binarizing the acquired images separately to generate two data matrices;

Comparing the two data matrices to determine whether the hook beam is tilted;

In the case where the hook beam is inclined, the rotational speed of the motor is adjusted such that the hook beam tends to be horizontal.

The method according to claim 9, wherein the method further comprises:

Detecting a tilt angle of the hook beam to determine whether the hook beam is tilted; and/or

The currents of the motors of the first hoisting mechanism and the second hoisting mechanism are detected, and when the absolute value of the difference of the currents is greater than a preset value, it is determined that the hook beam is tilted.

The method according to claim 9, wherein the method further comprises:

Determining a rope winding state of the first hoisting mechanism or the second hoisting mechanism based on a data matrix of the first hoisting mechanism or the second hoisting mechanism;

When the rope winding state of the first hoisting mechanism or the second hoisting mechanism is in a tangled state, the first hoisting mechanism and the second hoisting mechanism are controlled to stop driving the hook beam to rise.

12. The method according to claim 11, wherein determining a winding state of the rope on the reel based on a data matrix of the first hoisting mechanism or the second hoisting mechanism comprises:

Selecting data of a predetermined area from the data matrix of the first hoisting mechanism or the second hoisting mechanism as a judgment matrix; According to the numerical distribution law of the judgment matrix, the winding state of the rope on the reel is determined.

13. Method according to claim 12, characterized in that the value "0" represents the absence of a rope, the value "1" represents the presence of a rope, in the judgment matrix representing the winding state of the rope on the reel In the case where the 1 is not continuous, it is determined that the winding state of the rope on the reel is in a chaotic state.

14. Method according to claim 9 or 11, characterized in that the method further comprises at least one of the following steps:

Comparing a data matrix of the two data matrices with a top warning location data matrix, and when the two are equal, issuing a hook top warning signal;

Comparing one of the two data matrices with the hoisting deceleration position data matrix, and controlling the first hoist when the two are equal and the first hoisting mechanism and the second hoisting mechanism are not decelerating The mechanism and the second hoisting mechanism are decelerating;

Comparing a data matrix of the two data matrices with a lifting emergency braking position data matrix, and braking when the two are equal and the first lifting mechanism and the second lifting mechanism are not stopped to lift The first hoisting mechanism and the second hoisting mechanism.

15. A control system for a crane including a double hoisting mechanism, the double hoisting mechanism comprising a first hoisting mechanism and a second hoisting mechanism, the first hoisting mechanism and the second hoisting mechanism each comprising a reel, a rope wound on the reel and a motor for driving the reel, the first hoisting mechanism and the second hoisting mechanism for driving the hook beam to ascend and descend, the system comprising:

An image capturing device, configured to respectively acquire an image that reflects a winding state of the rope on the reel of the first hoisting mechanism and an image that reflects a winding state of the rope on the reel of the second hoisting mechanism;

Control device, used to perform the following operations:

Decoding and binarizing the acquired images to generate two data matrices; comparing the two data matrices to determine whether the hook beam is tilted; and in the case where the hook beam is tilted Adjusting the rotational speed of the motor such that the hook beam tends to be horizontal.

The system according to claim 15, wherein the system further comprises: a tilt sensor for detecting an inclination of the hook beam;

The control device is configured to determine whether the hook beam is tilted according to the inclination angle.

17. The system of claim 15 further comprising:

a current detecting device, configured to detect currents of the motors of the first lifting mechanism and the second lifting mechanism; the control device is configured to determine the hanging when the absolute value of the difference of the currents is greater than a preset value The hook beam is tilted.

18. The system according to claim 15, wherein the control device is further configured to perform the following operations:

19. The system of claim 18, wherein determining a winding state of the rope on the reel based on a data matrix of the first hoisting mechanism or the second hoisting mechanism comprises:

Selecting data of a predetermined area from the data matrix of the first hoisting mechanism or the second hoisting mechanism as a judgment matrix;

20. System according to claim 19, characterized in that the value "0" represents the absence of a rope and the value "1" represents the presence of a rope, in the judgment matrix representing the winding state of the rope on the reel. In the case where the 1 is not continuous, it is determined that the winding state of the rope on the reel is in a chaotic state.

The system according to claim 15 or 18, wherein said control means is further for performing at least one of the following operations:

Comparing one of the two data matrices with the hoisting deceleration position data matrix, and in two Controlling the first hoisting mechanism and the second hoisting mechanism to decelerate when the first hoisting mechanism and the second hoisting mechanism are not performing the deceleration operation;

22. A crane comprising a system according to any of claims 15-21.