阅读说明：本技术 用于升降设备定位的控制方法、装置、介质及起重机 (Control method and device for positioning lifting equipment, medium and crane ) 是由 罗兆滔 罗永杰 于 2021-04-16 设计创作，主要内容包括：本发明公开了一种用于升降设备定位的控制方法、装置、介质及起重机。该控制方法包括：控制装置获取升降设备的吊笼需要到达的第一目标高度；控制装置根据第一目标高度,控制吊笼向上或者向下移动；控制装置发出停靠信号,使得吊笼在第二目标高度的位置停靠；控制装置发出缓降信号,使得吊笼的电动推杆的一端伸展,并使得吊笼移动至与第一目标高度匹配的位置。该起重机采用该控制方法,实现对重物的升降操作,该控制装置用于执行该控制方法。实施本发明有利于对需要提升的重物定位的准确性,从而有利于提高升降设备的工作效率以及使得升降设备对于该应用场景具有适用性。(The invention discloses a control method and device for positioning lifting equipment, a medium and a crane. The control method comprises the following steps: the method comprises the steps that a control device obtains a first target height which a cage of lifting equipment needs to reach; the control device controls the suspension cage to move upwards or downwards according to the first target height; the control device sends a parking signal to enable the suspension cage to park at the position of the second target height; the control device sends a slow descending signal to enable one end of an electric push rod of the suspension cage to extend, and the suspension cage is enabled to move to a position matched with the first target height. The crane adopts the control method to realize the lifting operation of the heavy object, and the control device is used for executing the control method. The method and the device are beneficial to the accuracy of positioning the heavy object to be lifted, thereby being beneficial to improving the working efficiency of the lifting equipment and enabling the lifting equipment to have applicability to the application scene.)

1. A control method for positioning of a lifting device is characterized in that a control device for controlling the lifting device is arranged in an application scene, and the control method comprises the following steps:

the control device acquires a first target height which is required to be reached by a suspension cage of the lifting equipment;

the control device controls the suspension cage to move upwards or downwards according to the first target height;

the control device sends a parking signal to enable the suspension cage to be parked at a second target height, wherein a second height value corresponding to the second target height is larger than a first height value corresponding to the first target height, and a difference value between the second height value and the first height value is a predetermined height difference value;

and the control device sends a slow descending signal to enable one end of an electric push rod of the suspension cage to extend and enable the suspension cage to move to a position matched with the first target height.

2. The control method for positioning a lifting device according to claim 1, wherein after the control means obtains a first target height that a cage of the lifting device needs to reach, and before the control means controls the cage to move up or down according to the first target height, the control method further comprises:

the control device acquires the current height of the suspension cage;

the control device judges whether the current height is larger than the first target height;

and when the current height is judged to be greater than the first target height, the control device controls the suspension cage to move downwards.

3. The control method for positioning of a lifting device of claim 1, further comprising:

the control device acquires the current load of the suspension cage;

the control device judges whether the current load is less than or equal to a predetermined load threshold value;

and when the current load is judged to be not less than or equal to the load threshold value, the control device sends out an alarm signal, so that related personnel of the lifting equipment can adjust the current load.

4. The control method for positioning of the lifting equipment according to claim 1, wherein an audible and visual alarm device is further arranged in the application scene, and in the process that the control device controls the suspension cage to move upwards or downwards according to the first target height, the control method further comprises:

the control device sends out a movement prompt signal, so that the sound and light alarm device outputs a sound and light alarm signal.

5. The control method for positioning of a lifting device according to any one of claims 1 to 4, wherein the lifting device is further provided with a key module, and the control device obtains a first target height that the cage of the lifting device needs to reach, specifically comprising:

the control device detects floor information sent by the key module, wherein the floor information is information which is triggered by relevant personnel in the application scene through the key module and represents a target floor to which the cage needs to arrive;

and the control device determines a first target height of the lifting equipment according to the floor information.

6. The control method for positioning of a lifting device according to any of claims 1 to 4, wherein four electric push rods are provided, each electric push rod being located at four corners of the lower portion of the cage, the electric push rods being extendable in a direction toward the outside of the cage and interlocked with the first position-limiting device in the working tower where the cage is located, so that the cage is stopped at a certain position in the working tower.

7. A crane, characterized in that the crane employs the control method for positioning a lifting device according to any one of claims 1 to 6 to perform a lifting operation of a heavy object.

8. The utility model provides a control device for control jacking equipment, its characterized in that, control device is including acquireing module, control module and signal transmission module, wherein:

the acquisition module is used for acquiring a first target height which needs to be reached by a suspension cage of the lifting equipment;

the control module is used for controlling the suspension cage to move upwards or downwards according to the first target height;

the signal sending module is used for sending a parking signal to enable the lifting equipment to park at a second target height, wherein a second height value corresponding to the second target height is larger than a first height value corresponding to the first target height, and a difference value between the second height value and the first height value is a predetermined height difference value;

the signal sending module is further used for sending a slow descending signal, so that one end of an electric push rod of the suspension cage extends, and the suspension cage moves to a position matched with the first target height.

9. A control device for controlling a lifting apparatus, the control device comprising:

a memory storing executable program code;

a processor coupled with the memory;

the processor calls the executable program code stored in the memory to execute the steps of the control method for positioning of a lifting device according to any of claims 1 to 6.

10. A computer-readable storage medium, characterized in that it stores computer instructions for performing the steps of the control method for positioning of a lifting device according to any one of claims 1 to 6, when said computer instructions are called.

Technical Field

The invention relates to the technical field of control, in particular to a control method for positioning lifting equipment, a crane adopting the method and a control device.

Background

For the lifting device provided with the winch, the method for detecting the height of the lifting device mainly comprises the steps of detecting the rotating position of a winding drum of the winch and converting the rotating position of the winding drum into the height of the lifting device.

However, in practice, for an application scenario where a heavy object needs to be lifted to a large height (e.g., 275 meters), the steel wire rope of the winding drum needs to be wound in multiple layers to meet the height condition of lifting the heavy object. However, the method for determining the height of the lifting device by the rotation position of the winding drum of the winch cannot enable the lifting device to stably suspend the heavy object to be lifted in the application scene that the winding drum is wound by the multilayer steel wire rope, which is not beneficial to the accuracy of positioning the heavy object to be lifted, thereby reducing the working efficiency of the lifting device and the applicability in the scene.

Therefore, how to accurately control the height of the lifting equipment for lifting the heavy object so as to improve the working efficiency of the lifting equipment and the applicability in the scene is a technical problem which needs to be solved urgently.

Disclosure of Invention

The technical problem to be solved by the invention is to provide a control method for positioning lifting equipment, a crane adopting the method and a control device, which are beneficial to accurately controlling the height of the lifting equipment for lifting heavy objects.

In order to solve the technical problem, a first aspect of the present invention discloses a control method for positioning a lifting device, wherein a control device for controlling the lifting device is arranged in an application scenario, and the control method comprises:

the control device acquires a first target height which is required to be reached by a suspension cage of the lifting equipment;

the control device controls the suspension cage to move upwards or downwards according to the first target height;

the control device sends a parking signal to enable the suspension cage to be parked at a second target height, wherein a second height value corresponding to the second target height is larger than a first height value corresponding to the first target height, and a difference value between the second height value and the first height value is a predetermined height difference value;

and the control device sends a slow descending signal to enable one end of an electric push rod of the suspension cage to extend and enable the suspension cage to move to a position matched with the first target height.

It can be seen that in the first aspect of the present invention, the control device stops the cage at the second target height by sending the stop signal, and sends the slow-descent signal to extend one end of the electric push rod of the cage, thereby the suspension cage is moved to the position matched with the first target height, which is beneficial to realizing the adjustment of the height of the suspension cage through the electric push rod of the suspension cage when the current height of the suspension cage is close to the first target height to be reached, thereby being beneficial to more accurately controlling the height of the lifting weight of the lifting equipment and being beneficial to the application scene that the winding drum is wound by a plurality of layers of steel wire ropes, so that the lifting equipment can stably suspend the heavy object to be lifted, which is beneficial to the accuracy of positioning the heavy object to be lifted, thereby be favorable to improving the work efficiency of jacking equipment and make jacking equipment have the suitability to this application scene.

As an optional implementation manner, in the first aspect of the present invention, after the control device obtains a first target height that a cage of the lifting apparatus needs to reach, and before the control device controls the cage to move up or down according to the first target height, the control method further includes:

the control device acquires the current height of the suspension cage;

the control device judges whether the current height is larger than the first target height;

and when the current height is judged to be greater than the first target height, the control device controls the suspension cage to move downwards.

As an optional implementation manner, in the first aspect of the present invention, the control method further includes:

the control device acquires the current load of the suspension cage;

the control device judges whether the current load is less than or equal to a predetermined load threshold value;

and when the current load is judged to be not less than or equal to the load threshold value, the control device sends out an alarm signal, so that related personnel of the lifting equipment can adjust the current load.

As an optional implementation manner, in the first aspect of the present invention, an audible and visual alarm device is further disposed in the application scenario, and in the process that the control device controls the suspension cage to move upwards or downwards according to the first target height, the control method further includes:

the control device sends out a movement prompt signal, so that the sound and light alarm device outputs a sound and light alarm signal.

As an optional implementation manner, in a first aspect of the present invention, the lifting device is further provided with a key module, and the obtaining, by the control device, a first target height that the cage of the lifting device needs to reach specifically includes:

the control device detects floor information sent by the key module, wherein the floor information is information which is triggered by relevant personnel in the application scene through the key module and represents a target floor to which the cage needs to arrive;

and the control device determines a first target height of the lifting equipment according to the floor information.

As an alternative implementation manner, in the first aspect of the present invention, four electric push rods are provided, and are respectively located at four corners of the lower portion of the cage, and the electric push rods can extend toward the outside of the cage and interlock with the first limiting device in the working tower where the cage is located, so that the cage is parked at a certain position in the working tower.

In a second aspect of the invention, a crane is disclosed, which employs the control method for positioning a lifting device according to the first aspect of the invention to perform a lifting operation of a heavy object.

The third aspect of the invention discloses a control device for controlling a lifting device, which is characterized by comprising an acquisition module, a control module and a signal sending module, wherein:

the acquisition module is used for acquiring a first target height which needs to be reached by a suspension cage of the lifting equipment;

the control module is used for controlling the suspension cage to move upwards or downwards according to the first target height;

the signal sending module is used for sending a parking signal to enable the lifting equipment to park at a second target height, wherein a second height value corresponding to the second target height is larger than a first height value corresponding to the first target height, and a difference value between the second height value and the first height value is a predetermined height difference value;

the signal sending module is further used for sending a slow descending signal, so that one end of an electric push rod of the suspension cage extends, and the suspension cage moves to a position matched with the first target height.

A fourth aspect of the present invention discloses another control apparatus for controlling a lifting device, the apparatus comprising:

a memory storing executable program code;

a processor coupled with the memory;

the processor calls the executable program code stored in the memory to execute the steps of the control method for positioning a lifting device disclosed in the first aspect of the invention.

In a fifth aspect of the present invention, a computer-readable storage medium is disclosed, which stores computer instructions for executing the steps of the control method for positioning a lifting device disclosed in the first aspect of the present invention when the computer instructions are called.

Drawings

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

Fig. 1 is a schematic structural diagram of a lifting device system of a control method for positioning a lifting device according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart of a control method for positioning a lifting device in accordance with an embodiment of the present invention;

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

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

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terms first, second and the like in the description and in the claims of the present invention are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

In order to better understand the control method for positioning the lifting device, the crane using the method and the control device described in the present invention, the lifting device system will be described first, and specifically, the schematic structural diagram of the lifting device system can be as shown in fig. 1. As shown in fig. 1, the lifting device system includes a lifting device and a control device for controlling the lifting device. The lifting device comprises a suspension cage and a winch, wherein the winch is used for driving the suspension cage to move upwards or downwards, and the suspension cage is further provided with a push rod used for adjusting the height of the suspension cage.

Further, the push rod is an electric push rod, and the push rod can be provided with a plurality of push rods.

Further, the cage may be disposed within a vertical channel for defining lateral movement of the cage. For example, the vertical passage may be an elevator shaft when the lifting device is a hoist, and the work tower may be the vertical passage when the lifting device is a crane.

Furthermore, when the height of the suspension cage needs to be adjusted, one end of the push rod can extend to the inner wall of the vertical channel, the contact position of the push rod and the inner wall of the vertical channel is used as a base point, and the suspension cage can be driven by the push rod to move in the vertical direction, so that the height of the suspension cage is adjusted.

Furthermore, the inner wall of the vertical channel is provided with a first limiting device, when one end of the push rod extends to the inner wall of the vertical channel, one end of the push rod and the first limiting device are locked with each other, and therefore one end of the push rod is fixed on the inner wall of the vertical channel.

Furthermore, the push rod is connected with the suspension cage through a second limiting device, when the height of the suspension cage needs to be fixed after the push rod completes the height adjustment of the suspension cage, the second limiting device enables one end of the push rod and the suspension cage to be locked mutually, and the first limiting device enables the other end of the push rod to be fixed on the inner wall of the vertical channel.

Further, the first limiting device and the second limiting device may include a locking mechanism cooperating with one end of the push rod, and when one end of the push rod close to the first limiting device (or the second limiting device) is locked in the locking mechanism, the locking mechanism is in a closed state, so that one end of the push rod is fixed at a certain position in the vertical channel. Optionally, the locking mechanism may include a locking groove connected to one end of the push rod in a snap-fit manner and an elastic locking plate located on the opening side of the locking groove, and the elastic locking plate is used for further limiting one end of the push rod connected to the locking groove in the snap-fit manner.

Further, as shown in fig. 1, the lifting device system may further include an operation platform and/or a remote controller in communication connection with the control device, the operation platform may be provided with a human-machine interface, and the remote controller may be provided with a human-machine interface or a key module, where the human-machine interface or the key module may facilitate an operator to input an operation instruction.

Further, as shown in fig. 1, the lifting device system may further be provided with a video monitoring device in communication connection with the control device, so as to monitor the operation condition of the lifting device.

Furthermore, a height detection device which is in communication connection with the control device is arranged at the vertical channel and used for detecting the height of the suspension cage.

Furthermore, the lifting equipment can be further provided with a cage load detection device which is in communication connection with the control device.

Further, as shown in fig. 1, the lifting device system may further be provided with a running state identification device communicatively connected to the control device, and the control device may determine the running state of the lifting device through the running state identification device (e.g., the lifting device is in a state of lifting a heavy object, or the lifting device is in a parking state of suspending a heavy object at a certain height, etc.)

It should be noted that the schematic structural diagram of the lifting device system shown in fig. 1 is only for illustrating the lifting device system corresponding to the control method for positioning the lifting device, the related devices are only schematically shown, and the specific structure/size/shape/location/installation manner, etc. may be adaptively adjusted according to actual situations, and the schematic structural diagram shown in fig. 1 is not limited thereto.

The control method for positioning the lifting device, the crane using the same, and the control apparatus will be described in detail below.

Referring to fig. 2, fig. 2 is a schematic flow chart of a control method for positioning a lifting device according to an embodiment of the first aspect of the present invention. Wherein the control method for positioning of a lifting device described in fig. 2 is applicable in the lifting device system described in fig. 1. As shown in fig. 2, the control method for positioning of the lifting device may include the operations of:

101. the control device obtains a first target height which is required to be reached by a suspension cage of the lifting equipment.

In the embodiment of the present invention, the first target height may be determined by the control device through an instruction input by a relevant person in charge of operating the lifting device through a human-machine interface of the operation platform or the remote controller. Optionally, the lifting device may be provided with a key module, and the step of acquiring, by the control device, a first target height to which the cage of the lifting device needs to reach may include the following operations:

the control device detects the floor information sent by the key module;

the control device determines a first target height of the lifting device according to the floor information.

The floor information is information which is triggered by related personnel in an application scene through a key module and represents a target floor to which the cage needs to arrive.

102. The control device controls the suspension cage to move upwards or downwards according to the first target height.

In this embodiment of the present invention, optionally, the control device may control the direction (upward or downward) in which the cage moves by controlling the direction in which the drum of the winch rotates according to the first target height. Furthermore, the control device can control the vertical distance of the movement of the suspension cage by controlling the rotating angle of the winding drum of the winch.

103. The control device sends a parking signal to enable the suspension cage to be parked at the position of the second target height.

In the embodiment of the present invention, the second height value corresponding to the second target height is greater than the first height value corresponding to the first target height, and the difference between the second height value and the first height value is a predetermined height difference value. Optionally, the height difference may be adaptively adjusted according to a current load of the cage. Further optionally, the height difference corresponding to the moment may be determined based on the current load of the cage according to a database (or a data table, a calculation relation, etc.) which is predetermined and can represent a mapping relationship between the height difference and the current load of the cage.

104. The control device sends a slow descending signal to enable one end of an electric push rod of the suspension cage to extend, and the suspension cage is enabled to move to a position matched with the first target height.

In the embodiment of the invention, optionally, four electric push rods can be arranged and are respectively positioned at four corners of the lower part of the cage, and the electric push rods can extend towards the outer side of the cage and are interlocked with the first limiting device in the working tower where the cage is positioned, so that the cage stops at a certain position in the working tower. Further, for an application scene with a vertical channel, when the electric push rod is in an extension state, the suspension cage can be moved to a position matched with the first target height under the action of the electric push rod. Further, the electric push rod may be connected to the inner wall of the vertical passage through a first limiting device, and a second limiting device may be disposed between the cage and the electric push rod, wherein based on detailed description of height adjustment of the position of the cage (i.e., movement of the cage to a position matching the first target height) achieved by the electric push rod, the first limiting device, and the second limiting device, the description of height adjustment of the position of the cage achieved by the electric push rod, the first limiting device, and the second limiting device may be referred to, and is not repeated herein.

It can be seen that in the embodiment of the first aspect of the present invention, the control device stops the cage at the second target height by sending the stop signal, and sends the slow-descending signal to extend one end of the electric push rod of the cage, thereby the suspension cage is moved to the position matched with the first target height, which is beneficial to realizing the adjustment of the height of the suspension cage through the electric push rod of the suspension cage when the current height of the suspension cage is close to the first target height to be reached, thereby being beneficial to more accurately controlling the height of the lifting weight of the lifting equipment and being beneficial to the application scene that the winding drum is wound by a plurality of layers of steel wire ropes, so that the lifting equipment can stably suspend the heavy object to be lifted, which is beneficial to the accuracy of positioning the heavy object to be lifted, thereby be favorable to improving the work efficiency of jacking equipment and make jacking equipment have the suitability to this application scene.

In some embodiments of the present invention, after the control device obtains a first target height that the cage of the lifting device needs to reach, and before the control device controls the cage to move up or down according to the first target height, the control method further includes:

the control device acquires the current height of the suspension cage;

the control device judges whether the current height is greater than a first target height;

and when the current height is judged to be greater than the first target height, the control device controls the suspension cage to move downwards.

Further, when it is determined that the current height is not greater than the first target height, the control device may determine whether the current height is less than the first target height.

Still further, when the current height is judged to be smaller than the first target height, the control device controls the suspension cage to move upwards.

In this embodiment, it can be seen that, when the current height is determined to be greater than the first target height, the control device controls the suspension cage to move downwards, and when the current height is determined to be less than the first target height, the controller controls the suspension cage to move upwards, which is beneficial to further improving the accuracy of the control device in controlling the movement of the suspension cage.

In some embodiments of the invention, the control method further comprises the following operations:

the control device acquires the current load of the suspension cage;

the control device judges whether the current load is less than or equal to a predetermined load threshold value;

and when the current load is judged to be not less than or equal to the load threshold value, the control device sends out an alarm signal, so that related personnel of the lifting equipment can adjust the current load.

Further, when the current load is judged to be less than or equal to the load threshold value, the control device sends a feedback signal aiming at the current load, so that related personnel of the lifting equipment can obtain the current load.

In this embodiment, optionally, the load threshold may be predetermined according to the strength check result of the lifting device (e.g., the strength check result of the cage, the strength check result of the winch, etc.) and the requirement of the application scenario.

Therefore, in the embodiment, when the current load is judged to be not less than or equal to the load threshold, the control device sends out the alarm signal, so that related personnel can adjust the current load, and the operation safety and stability of the lifting equipment can be improved.

In some embodiments of the present invention, an audible and visual alarm device is further disposed in the application scenario, and in the process that the control device controls the suspension cage to move upwards or downwards according to the first target height, the control method further includes the following operations:

the control device sends out a movement prompt signal, so that the sound and light alarm device outputs a sound and light alarm signal.

Therefore, in the embodiment, the sound-light alarm device outputs the sound-light alarm signal, so that the lifting equipment is favorable for prompting relevant personnel that the lifting equipment is moving, the danger caused by misoperation or mistaken entering of the personnel into a working area is favorably reduced, and the safety of the lifting equipment is favorably improved.

The embodiment of the second aspect of the invention discloses a crane, which adopts the control method for positioning the lifting equipment described in the embodiment of the first aspect of the invention to perform the lifting operation on the heavy object.

In the second embodiment of the invention, it can be seen that the crane sends a stop signal through the control device, the suspension cage is stopped at the position of the second target height, and a slow descending signal is sent out, so that one end of an electric push rod of the suspension cage extends, thereby the suspension cage is moved to the position matched with the first target height, which is beneficial to realizing the adjustment of the height of the suspension cage through the electric push rod of the suspension cage when the current height of the suspension cage is close to the first target height to be reached, thereby being beneficial to more accurately controlling the height of the heavy object lifted by the crane and being beneficial to the application scene that the winding drum is wound by a plurality of layers of steel wire ropes, so that the crane can stably suspend the heavy object to be lifted, the accuracy of positioning the heavy object to be lifted is facilitated, therefore, the working efficiency of the crane is improved, and the crane has applicability to the application scene.

Referring to fig. 3, fig. 3 is a control device for controlling a lifting apparatus according to a third embodiment of the present invention. The control arrangement depicted in fig. 3 is suitable for use in the lift system depicted in fig. 1. As shown in fig. 3, the control device includes an obtaining module 301, a control module 302, and a signal sending module 303, wherein:

the acquiring module 301 is configured to acquire a first target height that a cage of a lifting device needs to reach;

a control module 302 for controlling the cage to move up or down according to a first target height;

a signal sending module 303, configured to send a stop signal, so that the lifting apparatus stops at a position of a second target height, where a second height value corresponding to the second target height is greater than a first height value corresponding to the first target height, and a difference between the second height value and the first height value is a predetermined height difference;

the signal sending module 303 is further configured to send a slow descent signal, so that one end of the electric push rod of the suspension cage extends, and the suspension cage moves to a position matched with the first target height.

It can be seen that in the third embodiment of the present invention, the control device sends a stop signal to stop the cage at the second target height, and sends a slow-down signal to extend one end of the electric push rod of the cage, thereby the suspension cage is moved to the position matched with the first target height, which is beneficial to realizing the adjustment of the height of the suspension cage through the electric push rod of the suspension cage when the current height of the suspension cage is close to the first target height to be reached, thereby being beneficial to more accurately controlling the height of the lifting weight of the lifting equipment and being beneficial to the application scene that the winding drum is wound by a plurality of layers of steel wire ropes, so that the lifting equipment can stably suspend the heavy object to be lifted, which is beneficial to the accuracy of positioning the heavy object to be lifted, thereby be favorable to improving the work efficiency of jacking equipment and make jacking equipment have the suitability to this application scene.

Referring to fig. 4, fig. 4 is a control device for controlling a lifting apparatus according to a fourth embodiment of the present invention. The control arrangement depicted in fig. 4 is suitable for use in the lift system depicted in fig. 1. As shown in fig. 4, the control device includes:

a memory 401 storing executable program code;

a processor 402 coupled with the memory 401;

further, an input interface 403 and an output interface 404 coupled to the processor 402 may be included;

wherein the processor 402 invokes executable program code stored in the memory 401 for performing the steps of the control method for positioning a lifting device as described in the embodiments of the first aspect of the present invention.

In an embodiment of a fifth aspect of the present invention, a computer-readable storage medium is disclosed, which stores a computer program for electronic data exchange, wherein the computer program causes a computer to perform the steps of the control method for positioning a lifting device described in the embodiment of the first aspect of the present invention.

A sixth aspect of the invention discloses a computer program product comprising a non-transitory computer readable storage medium storing a computer program, the computer program being operable to cause a computer to perform the steps of the control method for positioning of a lifting device as described in the embodiments of the first aspect of the invention.

The above-described embodiments of the apparatus are merely illustrative, and the modules described as separate parts may or may not be physically separate, and the parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above detailed description of the embodiments, those skilled in the art will clearly understand that the embodiments may be implemented by software plus a necessary general hardware platform, and may also be implemented by hardware. Based on such understanding, the above technical solutions may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, where the storage medium includes a Read-Only Memory (ROM), a Random Access Memory (RAM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), a One-time Programmable Read-Only Memory (OTPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a Compact Disc-Read-Only Memory (CD-ROM), or other disk memories, CD-ROMs, or other magnetic disks, A tape memory, or any other medium readable by a computer that can be used to carry or store data.

Finally, it should be noted that: the control method for positioning the lifting device, the crane using the method and the control device disclosed in the embodiments of the present invention are only preferred embodiments of the present invention, and are only used for illustrating the technical solutions of the present invention, not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art; the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions.