13671results about "Load-engaging elements" patented technology

The invention relates to the technical field of special equipment intelligent monitoring and maintenance, in particular to a special equipment monitoring and maintenance method and system based on multi-dimensional data fusion, and the method comprises the steps: collecting and processing multi-source heterogeneous sensor data; constructing a dynamic digital twinborn model based on sensor data and a cross-domain term mapping rule; associating the sensor data with the digital twinborn model to establish a lightweight analysis model, performing health state simulation analysis on the edge equipment, and generating an analysis result; the data quality of the edge device is monitored through the analysis model, when the data quality is lower than a threshold value, a co-simulation process is started, a simulation analysis task is transferred to the cloud digital twin platform, and the edge device continues to conduct simulation analysis based on the analysis model; and constructing a simulation design decision rule base, and generating a maintenance suggestion. Through the multi-dimensional data fusion and edge cloud co-simulation architecture, the accuracy, real-time performance and reliability of monitoring and maintenance of the special equipment are improved.

The invention relates to the technical field of fabricated building construction, in particular to an intelligent hoisting and precise positioning construction method for fabricated building components. The method comprises the following steps: acquiring a geometric parameter set of the special-shaped curved glass component, a parameter set of hoisting equipment, a real-time environment parameter set of a construction site and a reference positioning parameter set of a building; based on the special-shaped curved glass component geometric parameter set, the hoisting equipment parameter set and the construction site real-time environment parameter set, a special-shaped curved glass hoisting simulation information set is integrated, and affected state characteristics of the special-shaped curved glass in the hoisting process are obtained; performing data fusion on the influenced state characteristics and a building reference positioning parameter set to obtain absolute deviation information of the special-shaped curved glass relative to building reference positioning; and according to the absolute deviation information, operation parameters of the hoisting equipment are dynamically adjusted, and an intelligent hoisting precise positioning construction scheme report is output. And assembly type building hoisting construction is powerfully promoted to develop towards the direction of intelligence and standardization.

The invention relates to the technical field of equipment collaborative operation of the Internet of Things, in particular to a transit hub equipment collaborative operation method and system based on the Internet of Things technology. According to the method, original attitude motion data of a target ship are collected in real time through an attitude sensor network of the Internet of Things, and a real-time attitude drift vector of the target ship relative to a geodetic coordinate system is calculated; constructing a dynamic coordinate transformation matrix according to the real-time attitude drift vector; acquiring an expected operation track control instruction preset by the quay crane control system according to the geodetic coordinate system; performing coordinate transformation operation on the expected operation track control instruction through a dynamic coordinate transformation matrix to obtain a compensated cooperative control instruction; the compensated cooperative control instruction is transmitted to a quay crane control system in real time through an Internet of Things communication link, and a quay crane lifting appliance is driven by the quay crane control system to conduct lifting operation according to the compensated track instruction; and the safety and efficiency of the hoisting operation between the ship and the quay crane can be effectively improved.

According to the auxiliary supporting mechanism for assembling the internal parts of the Tokamak and the assembling method, all auxiliary stand columns and a center stand column are installed at the same center distance, and the center stand column is provided with an upper-layer disc-type turn buckle supporting mechanism and a lower-layer disc-type turn buckle supporting mechanism so as to be connected with the outer surface of a vertical section of a vacuum chamber ring petal; the outer side supporting mechanism is connected around the outer surface of the vacuum chamber ring valve set, the double-column type bottom supporting table is located below the vacuum chamber ring valve set, and the vacuum chamber ring valve set is supported from the outer side and the lower portion of the vacuum chamber ring valve set; a stand column connecting rod is connected between every two adjacent auxiliary stand columns, and a limiting mechanism capable of extending into a window in a vacuum chamber ring petal is installed on each stand column connecting rod. The U-shaped operation platform penetrates through the vacuum chamber ring petal set, and a plurality of small internal part assembling auxiliary tools are movably installed on the surface of the U-shaped operation platform. The method is wide in application range, can effectively solve the problems that transportation channels of internal parts are few and the assembly construction space is limited, and reduces the construction difficulty and the construction cost.

The invention relates to the technical field of automatic control, in particular to a tower crane variable amplitude-rotation linkage self-adaptive control method oriented to a high wind load environment. The method comprises the following steps: step 1, acquiring an actually measured average wind speed at the height of the tower crane so as to determine a wind-induced coupling torque acting on a rotating shaft of the tower crane; 2, real-time equivalent rotational inertia generated by the dead weight of the cantilever crane, the suspended load mass and the relative position of the cantilever crane is calculated in real time; step 3, obtaining an original variable-amplitude torque instruction output by a variable-amplitude motor of the tower crane; and step 4, utilizing the rotating shaft to couple the rotational inertia so as to update the rotation angular velocity set value of the tower crane in the next control period in real time, and completing the amplitude variation-rotation linkage self-adaptive control of the tower crane. According to the invention, the safety, precision and continuous operation capability of the tower crane under complex construction conditions are improved.

The invention provides a double-machine lifting dynamic balance control method based on real-time load feedback, which comprises the following steps of: after a system is initialized, synchronously acquiring load, height, attitude, position, motion and environment data of two machines, and fusing and filtering; load, height, angle, position and motion coordination multiple deviations are calculated, and balance and safety are evaluated; generating a speed, position, attitude and safety comprehensive control strategy by using multi-objective optimization according to an evaluation result, and setting a priority and a look-ahead mechanism; executing instructions in a distributed manner and monitoring the instructions in real time; self-adaptive parameter adjustment and machine learning continuous optimization are carried out based on a feedback closed loop; and multi-stage safety monitoring and emergency processing are synchronized. According to the invention, the precision, safety and efficiency of hoisting operation can be improved, the operation difficulty and energy consumption are reduced, and the adaptability and reliability of the system in a complex environment are enhanced.

The invention relates to the technical field of crane line fault diagnosis, in particular to a crane line fault diagnosis system and method based on multi-source data fusion, which comprises a data acquisition and processing unit, a mechanical and electrical coupling characteristic unit and a characteristic fusion and fault quantification unit, the three-axis vibration acceleration and the three-phase current waveform of the track are obtained through the data collecting and processing unit, the mechanical and electrical coupling characteristic unit conducts three-dimensional vector synthesis and wavelet packet decomposition on vibration data, and a time-space incidence matrix of harmonic distortion and vibration is constructed. And the feature fusion and fault quantification unit outputs coupling factors by using a bidirectional long-short-term memory network and an attention mechanism, and outputs a fault probability value through a dynamic time warping matching algorithm after time-frequency domain analysis and sample entropy judgment, so that time-space correlation modeling and dynamic fault matching of multi-source data are realized. And the fault positioning precision and the diagnosis accuracy are improved.

The invention discloses a bridge crane anti-swing control method based on a neural network algorithm, and relates to the technical field of crane control, and the method comprises the following steps: collecting suspended load swing state variables of a bridge crane and establishing a dynamic model; the dynamic model is used for predicting the suspended load swing trend of the bridge crane, and a swing trend prediction result is obtained; feed-forward compensation control is carried out according to the swing trend prediction result, and a feed-forward control signal is obtained; performing real-time feedback correction on the movement of the bridge crane trolley according to the feedforward control signal to obtain a real-time correction control signal; and performing nonlinear compensation calculation according to the real-time correction control signal to obtain a final anti-swing control result. According to the invention, the method achieves the precise estimation of the future swing state, improves the prediction accuracy of the future swing state, achieves the advanced compensation, improves the response speed of a control system, enables a compensation strategy to adapt to different operation environments, and improves the control precision and robustness.

The invention discloses a crane steel wire rope flaw detection device and a flaw detection method, and belongs to the technical field of nondestructive flaw detection. The device comprises a magnetic memory flaw detection module and a wheel type rope climbing robot device for driving the magnetic memory flaw detection module to move along a crane steel wire rope, the magnetic memory flaw detection module comprises a hollow flaw detection shell, the flaw detection shell is longitudinally provided with a central through hole for a crane steel wire rope to penetrate through, and a plurality of giant magneto-impedance effect magnetic sensors are evenly arranged in the flaw detection shell in the circumferential direction of the central through hole. Therefore, a sensor array used for detecting the leakage magnetic field intensity of the crane steel wire rope is formed, and the giant magneto-impedance effect magnetic sensors are arranged in a coplanar mode. The device is mainly based on the giant magneto-impedance effect magnetic sensor and the metal magnetic memory principle, extremely weak magnetic nondestructive testing is conducted on the crane steel wire rope, and the device is convenient to use, high in detection precision, simple in structure and suitable for various steel wire rope detection environments.

The invention discloses a special-shaped steel pipe concrete pipe section hoisting dynamic pose control method, relates to the technical field of ocean engineering underwater pipeline installation, and mainly solves the problems of insufficient dynamic response and low space pose control precision when a special-shaped pipe section is hoisted in a complex water flow environment. The method comprises the steps that pipe section space pose design parameters are obtained, the pitch angle and the rolling angle of a pipe section are monitored in real time through an inclination angle sensor set, disturbance torque generated by real-time water flow force is calculated, sling length compensation amount is generated, and the take-up and pay-off speed of a chain block at each lifting point is independently adjusted; and meanwhile, adjusting mooring ropes moored on the two sides are pulled to control the horizontal rotation angle of the pipe section, the height of a lifting hook and tension of the mooring ropes are fed back and adjusted in cooperation with a floating crane positioning system, and finally accurate underwater in-position of the pipe section to the preset position of the seabed is achieved. The device is mainly used for hoisting and sinking operation of the special-shaped concrete filled steel tube section in the marine environment, water flow interference can be effectively resisted, and accurate butt joint and installation quality of a pipe section connector are guaranteed.

The invention belongs to the technical field of nuclear fusion devices, and discloses a tool and method for adjusting a Dewar bottom side ring body cold shield in a PIT foundation pit. Wherein in the adjusting tools, two first adjusting tools and two second adjusting tools are detachably fixed on a first isolation block and a second isolation block in an in-place mounting area of the Dewar base and are used for adjusting the horizontal position precision and the vertical position precision of a to-be-mounted cold shield module on the hoisting tool; the temporary supporting tool is detachably fixed to a third isolation block on a Dewar base at intervals along the circumference and used for supporting the bottom of a Dewar bottom side ring body cold shield formed by annularly connecting a plurality of to-be-installed cold shield modules and adjusting the vertical position precision of the Dewar bottom side ring body cold shield. According to the invention, the to-be-mounted cold shield module with large size and heavy weight can be mounted at high precision in a narrow mounting space in a PIT foundation pit, the Dewar base is not polluted, and the disassembly and assembly are convenient.

The invention discloses an automatic hoisting and positioning system and method for prefabricated parts, and relates to the technical field of building construction. The system comprises a tower crane, a frequency conversion trolley, a three-axis pan-tilt stabilizer, a receiver positioning device and an infrared emitter which are coaxial, an intelligent terminal control system with a pre-stored BIM model, and an integrated inertial sensing unit and a dome camera monitoring system. The intelligent terminal generates target coordinates through the BIM positioning reference module, the real-time deviation calculation module quantifies three-dimensional positioning and axis perpendicularity deviation, and the compensation instruction generation module drives targeted adjustment; through combination of infrared dual-mode switching, frame line deviation correction and inertia swing dynamic suppression, precise positioning and obstacle avoidance cooperation is realized. According to the method, through the closed-loop process of benchmark setting, obstacle avoidance lifting, fine compensation and standard confirmation, it is guaranteed that the positioning deviation is not larger than 0.8 mm, the axis perpendicularity is not larger than 0.3 degree, and the inertia swing is not larger than 10 cm, the problems that traditional hoisting is poor in precision and large in inertia interference are solved, and the installation quality and the operation efficiency are improved.

The invention relates to a track planning method and system for a bridge crane, and the method comprises the steps: collecting motion signals of a main beam and a trolley through an electromagnetic field intensity detection sensor array, carrying out the denoising of the motion signals, extracting features, decomposing the features into component signal groups, building the incidence relation between the component signal groups and the motion state of a joint, and achieving the high-precision dynamic positioning. A time sequence model is constructed based on position data to analyze displacement and speed characteristics, a multi-dimensional constraint condition set including speed limitation and position boundaries is generated, a final trajectory scheme is output through iterative adjustment of an optimization calculation framework, a dynamic feedback mechanism is adopted, electromagnetic field intensity signals and planning data are compared in real time, and the optimal position is obtained. And when the deviation threshold is exceeded, readjusting the parameters, and generating a coordinated motion instruction to drive the crane to operate. Accurate positioning is achieved based on electromagnetic field intensity detection, the problems of accumulative errors and environmental interference of a traditional method are effectively solved, and the stability, accuracy and self-adaptive capacity of crane movement are remarkably improved.

The invention relates to the technical field of automatic control, in particular to a crane load monitoring system and method for restraining swing, and aims to overcome the technical defects that according to an existing swing restraining scheme, control lag, effect attenuation and oscillation aggravation exist, and swing cannot be actively restrained from the root of movement of a crane. The system comprises a sensing module, a coupling model calculation module, a feedforward control module, a feedback correction module and an execution adaptation module. Wherein the coupling model calculation module is used for prospectively calculating a load swing trend based on crane motion parameters, and the feedforward control module is used for generating a compensation instruction in advance according to a predicted swing angle; and the feedback correction module performs closed-loop correction by using the actual swing angle. By the adoption of the technical scheme, efficient, active and whole-process suppression of crane load swing can be achieved, swing generation is weakened from the source, the operation efficiency is improved, and the operation threshold is lowered.

A method and system for discharge operation of a ship loader at a bulk cargo terminal. The method comprises: acquiring initial ship point cloud data; establishing a three-dimensional coordinate system, and acquiring an initial frame ship hold center line and a discharge planning point; continuously scanning a ship to be unloaded, acquiring real-time ship point cloud data, and acquiring a current frame ship center line and a normal vector of a ship deck on the basis of the real-time ship point cloud data; obtaining a real-time ship body deviation value on the basis of the current frame ship center line and the initial frame ship hold center line; obtaining a real-time ship body inclination angle on the basis of the normal vector of the ship deck; correcting coordinates of the discharge planning point on the basis of the real-time ship body deviation value and the real-time ship body inclination angle to obtain coordinates of a real-time discharge planning point, and acquiring coordinates of a current discharge point of a chute mechanism (5); a superordinate computer (1) controlling, on the basis of the coordinates of the real-time discharge planning point and the current discharge point, a ship loader to complete current discharge operation. The present application enables a ship loader to complete operation accurately, and enhances the safety and efficiency of operation of the ship loader.

The invention discloses a crown block positioning control method and related equipment, and relates to the technical field of industrial automation control, and the method comprises the steps: obtaining multi-source sensing data of a target crown block; carrying out fusion processing on the ultra-wideband positioning signal, the encoder displacement increment and the inertial measurement unit data based on a robust Kalman filtering algorithm to obtain a first positioning result; performing point cloud registration processing on the laser radar scanning data to obtain a second positioning result; determining a pose offset compensation amount through a preset kinetic model; and controlling the target crown block according to the first positioning result, the second positioning result and the pose offset compensation amount. Through the multi-sensor fusion and dynamic compensation technology, high-precision and anti-interference crown block positioning and control suitable for complex working conditions can be achieved.

Systems and techniques are described for implementing autonomous control of earth-moving construction and / or mining vehicles, including to automatically determine and control autonomous movement of part or all of one or more such vehicles (e.g., a vehicle's arm(s) and / or attachment(s), such as a digging bucket, claw, hammer, blade, etc.) to move materials or perform other actions in a manner that is based at least in part on data from simulated operation of the vehicle(s). For example, the systems / techniques may include using data from simulated operation of the earth-moving vehicle(s) in various manners, such as for use in training one or more machine learning models that are used in implementing the autonomous operations, determining optimal or otherwise preferred hardware component configurations to use, determining optimal or otherwise preferred implementation plans to use for one or more tasks and / or multi-task jobs, enabling user what-if experimentation activities, etc.

The invention discloses a unit type curved surface curtain wall installation device and method, and relates to the technical field of curtain wall construction, and the unit type curved surface curtain wall installation device comprises a plurality of detection units which are respectively installed on each control point on a unit structure body and are used for detecting actual measurement coordinates of the corresponding control points; the fine adjustment mechanism is connected to the lower end of the hoisting belt of the crane and is used for finely adjusting the position of the unit structure body; the control module is electrically connected to the detection unit and the fine adjustment mechanism; wherein the control module is configured to obtain actual measurement coordinates of each control point fed back by the detection unit; comparing the actually measured coordinates of each control point with pre-stored theoretical coordinates in a BIM model to obtain a deviation value of each control point; performing overall pose analysis based on the deviation value to obtain a pose deviation of the unit structure body in the space; generating a movement control quantity corresponding to each control point based on the pose deviation; and sending a movement control instruction to the fine adjustment mechanism according to the movement control quantity. The installation method has the effect of improving the installation efficiency.

The invention relates to the technical field of simulation optimization design, in particular to a simulation optimization design method and system for a stay cable tower top hanging bracket. According to the scheme, the corresponding finite element model is established firstly, then different working conditions are set according to actual conditions, the dynamic load is determined based on historical hoisting parameters under different working conditions and applied to the corresponding node for simulation finite element analysis and calculation, and finally the envelope value is extracted for analysis and checking calculation. According to the scheme, the dynamic stress change condition in the stay cable hoisting process can be more accurately simulated, the force borne by the tower top hanging bracket, the generated deformation and the counter-acting force of the fulcrum can be accurately calculated, and the data of the whole process can be visually displayed, so that the simulation model better fits the actual working condition, and the simulation efficiency is improved. And a more reliable basis and firm and effective technical support and guarantee are provided for design, construction, safety evaluation and the like of the tower top hanging bracket.

The invention provides a tower crane system with an offset repairing function and an offset repairing method thereof. The tower crane system comprises a base; the tower comprises a tower body, a cargo boom, a balance arm and a first rotating assembly. The monitoring assembly is configured to be used for monitoring the current offset, the current offset direction, the wind load and the wind direction of the tower body; the offset repairing assembly comprises a plurality of groups of compensation arms, a second rotating assembly, a third rotating assembly and a control unit; the multiple sets of compensation arms are rotationally connected with the tower body, and gravity compensation pieces capable of moving along the compensation arms are hung on the multiple sets of compensation arms. The control unit is used for predicting the future offset and the future offset direction of the tower body according to data monitored by the monitoring assembly and controlling the second rotating assembly to drive the multiple sets of compensation arms to rotate according to the future offset direction of the tower body so as to adjust the positions of the compensation arms. And the position of the gravity compensation piece on the compensation arm is adjusted according to the future offset of the tower body, compensation of the offset of the tower body is achieved, and the tower body is kept in a balanced state.

The invention relates to the technical field of path planning, and discloses a mountain wind power equipment transportation path planning and hoisting control method and system. The method comprises the following steps: scanning a mountain road through a laser ranging array to obtain a road cross section database, and modeling to obtain blade scanning envelope data; performing dynamic path planning by adopting a terrain adaptability predictive control algorithm, and obtaining a safe transportation path according to stress constraint verification; the sensor array monitors the blade state in real time and corrects the track; a temperature sensor collects tower drum temperature data, and the size change is predicted through a thermal deformation compensation mechanism; and the positioning system obtains hoisting reference coordinates and controls the hoisting posture in combination with the compensation parameters. The technical problems that dynamic sweeping modeling, stress constraint verification and real-time track correction are lacked in wind power equipment transportation path planning in the mountain environment, and thermal deformation compensation and multi-system collaborative optimization are lacked in hoisting control are solved. And the transportation safety and the hoisting control precision of the mountain wind power equipment are improved.

The invention provides a tower crane remote real-time operation system which comprises the following modules: a remote control system is used for receiving and converting an operation signal of a handheld assembly and transmitting the operation signal to a tower crane cab monitoring system, and the tower crane cab monitoring system is used for collecting operation parameters and environment data of a tower crane in real time and transmitting the operation signal to a remote control system; the operation signal and the collected data are sent to the tower crane lifting, amplitude-changing and corner integrated frequency converter control system, and the tower crane lifting, amplitude-changing and corner integrated frequency converter control system is used for controlling the lifting, amplitude-changing and corner actions of the tower crane in real time according to the operation signal or the collected data. The intelligent interaction control module cooperates with the multi-source data fusion analysis module and the building state sensing and feedback module, tower crane data, construction area building states and associated influence parameters are comprehensively integrated, the building state sensing and feedback module monitors building deformation and stress, it is guaranteed that construction and design are consistent in combination with a BIM model, the deviation is smaller than or equal to 3 mm, and construction safety and progress are guaranteed.

The utility model relates to the technical field of rail travelling cranes, and discloses travelling crane rail cleaning equipment which comprises a rail body and a support arranged on a travelling crane, a scraper bucket used for cleaning the rail body is arranged on the support, the scraper bucket is in contact with the rail body, and the travelling crane rail cleaning equipment further comprises a shell arranged on the scraper bucket and used for cleaning the rail body. A mounting area is arranged on the surface of one side close to the track body; the rack is arranged in the mounting area on the shell; the rotary driving assemblies are arranged on the rack, and the two rotary driving assemblies are arranged side by side; the vibrating mechanism is arranged on the rack and connected with the rotation driving assembly; and the driving assembly is arranged in the mounting area on the shell and is connected with the rotation driving assembly. According to the travelling crane rail cleaning equipment, the cleaning efficiency and quality are improved, the abrasion and energy consumption of the equipment are reduced, and a powerful guarantee is provided for safe and efficient running of travelling cranes.

The invention provides a crane remote control image delay detection method and system, and relates to the technical field of cranes, and the method comprises the following steps: carrying out space-time segmentation by using a dual-channel parallel preprocessing mechanism; acquiring three-dimensional space coordinates and motion parameters of the crane by utilizing an attention mechanism; calculating a motion state vector, inputting the motion state vector into the multi-modal deep learning model, and generating a video stream delay prediction curve; based on a prediction curve and a model prediction control algorithm, optimizing key frame distribution and coding parameters of the video stream, and transmitting the key frame distribution and coding parameters to a remote control terminal through an intelligent routing mechanism; modeling by adopting a recursive least square algorithm to obtain a probability distribution model; and generating a delay compensation control strategy through a hierarchical reinforcement learning algorithm, and carrying out adaptive time compensation on the operation instruction. According to the invention, the remote control image transmission delay is effectively reduced, and the real-time performance and safety of remote operation are improved.

The present application relates to a transport robot and a shelf-based warehousing system. The transport robot comprises a main vehicle and a goods carrying platform; the goods carrying platform is connected to one end of each of multiple lifting / lowering belts, and the other ends of the lifting / lowering belts are connected to a lifting / lowering driving mechanism on the main vehicle; the main vehicle drives, by means of the lifting / lowering driving mechanism, the goods carrying platform to ascend and descend; the main vehicle is provided with a locomotion mechanism which is configured to be matched with travel rails arranged on shelfs in a first direction, and the first direction is parallel to the extension direction of an aisle; an extendable / retractable goods pick and place structure is arranged on the goods carrying platform and is configured to laterally pick goods stored on and place goods to be stored on a shelf. The transport robot and the shelf-based warehousing system in the present application have high pick and place efficiency and flexibility.

The invention discloses an area intelligent identification alarm system for tower crane hoisting, which relates to the technical field of alarm systems and comprises a front-end data acquisition module, an acquired data processing module, a wireless network communication module, a hoisting safety analysis module and a safety alarm execution module. The visual detector, the detection sensor and the environment sensor form a multi-element acquisition module, hoisting parameters and environment information can be synchronously acquired in real time on the hoisting site of the tower crane, the comprehensiveness of information acquisition is ensured, and the problem that the traditional configuration is single in acquisition element and the cost is low is solved through the redundancy design of multiple acquisition elements. The method solves the problem that the existing tower crane is easy to fail, realizes real-time intelligent identification and graded early warning of potential safety hazards in a tower crane hoisting operation area, has the characteristics of high dynamic adaptability, high spatial resolution, intelligent response, high deployability and the like, and provides scientific and efficient technical support for safety management of tower crane operation.

The invention relates to the technical field of intelligent control of engineering machinery, and provides a tower crane hoisting whole process dynamic mapping and sensing coverage method and system. The method comprises the following steps: respectively mounting two rotary radars on a rotatable bracket of the tower crane; the current hoisting operation stage of the tower crane is obtained in real time; switching a shooting view angle of the double-radar module according to the hoisting operation stage, and controlling the double-radar module to obtain continuous point cloud data of the corresponding operation stage; tower crane operation parameters are collected, and continuous lifting hook tracks are generated in combination with continuous point cloud data obtained by the double-radar module; identifying a dynamic obstacle and a static background contained in the target monitoring space from the continuous point cloud data, and constructing a construction environment point cloud model; performing space-time registration on the construction environment point cloud model and the physical coordinate system, and establishing a global dynamic map; and a dynamic sensing area coverage map is constructed by fusing the continuous lifting hook track and the global dynamic map, so that the real-time sensing of the space environment of the tower crane hoisting operation is realized.

The invention discloses a crane sling anti-swing method and system based on reinforcement learning. The method comprises the following steps: establishing a crane sling swing model, defining a state space, an action space and a reward function, constructing a deep Q network, training the deep Q network, and performing anti-swing control by applying the trained deep Q network. By defining a proper state space, a proper action space and a proper reward function, a reinforcement learning model is constructed and trained, so that the swinging of the lifting appliance can be effectively inhibited, and the operation efficiency and safety of the crane are improved; the crane can adapt to different working scenes and working condition changes through a reinforcement learning algorithm, and the control strategy of the lifting appliance is optimized in real time.

The invention relates to the technical field of hoisting construction, particularly discloses an intelligent hoisting method for a large-span cable hoisting system and a monitoring system, and aims to solve the problems of low construction efficiency, difficulty in prevention and control of collision risks and low hoisting in-place efficiency in traditional cable hoisting construction. The system comprises a cable hoisting module, a visual measurement module, a reference positioning module, a main cable state recognition module, a data processing module, an execution control module and an obstacle avoidance early warning module, wherein the visual measurement module, the reference positioning module, the main cable state recognition module, the execution control module and the obstacle avoidance early warning module are electrically connected with the data processing module; the cable hoisting module comprises a winch group and a cable tower, the cable comprises a main cable, a traction cable and a hoisting cable, a sports car is arranged on the main cable, the sports car is connected with a hoisting point, the hoisting point is connected with a hoisting object, the sports car, the hoisting point, the hoisting object and the cable tower are all provided with mark points, and the execution control module is electrically connected with the winch group. The problems that the construction efficiency is low, the collision risk is difficult to prevent and control and the hoisting in-place efficiency is low in traditional cable hoisting construction are solved.

The invention relates to the technical field of attitude control, and discloses a method for realizing self-adaptive active leveling compensation, which comprises the following steps: acquiring real-time data of a vehicle, the data being provided by a plurality of sensors; processing the real-time data through a data fusion algorithm; according to the inclination state and the motion parameters of the vehicle, hydraulic supporting leg adjusting parameters are calculated through a multi-objective optimization algorithm; according to the calculated hydraulic supporting leg adjusting parameters, the action of the hydraulic supporting leg is adjusted through a PI D controller for vehicle balance recovery; the stability of the hydraulic supporting leg adjusting system is verified through the Lyapunov stability theory, and the hydraulic supporting leg adjusting system is used for enabling the adjusting process of the hydraulic supporting leg to be completed in all operation states; and the vehicle inclination state is fed back in real time. By fusing multi-sensor data and adopting a Kalman filtering or particle filtering algorithm, high-precision perception of the real-time inclination state and dynamic parameters of the vehicle is realized, and a more accurate and reliable vehicle attitude judgment effect is obtained.