Self-adaptive view angle direction changing tower crane control method

Abstract

The invention provides a tower crane control method capable of realizing adaptive view angle direction change. The tower crane control method comprises the following steps: establishing a unified coordinate system based on sensor and GPS differential positioning; determining advancing, retreating, leftward and rightward directions of the lifting hook according to the position of a ground operator; the forward, backward, leftward and rightward movement directions are decomposed into the movement direction of the luffing mechanism and the movement direction of the rotating mechanism; calculating the speed of a luffing mechanism and the speed of a rotating mechanism after decomposition; and transmitting the speed of the luffing mechanism and the speed of the rotating mechanism to motor motion control equipment. According to the invention, ground personnel can more intuitively control the movement direction of the lifting hook of the tower crane conveniently, and the non-intuitiveness that the ground personnel need to control the movement of the lifting hook in the view angle direction of a tower crane driver is avoided.

Description

Technical Field

[0001] The invention belongs to the technical field of tower crane control, and relates to a tower crane control method with adaptive viewing angle direction change. Background Art

[0002] The mechanical part of the tower crane is composed of a lifting mechanism, a luffing mechanism and a slewing mechanism. The lifting, luffing and slewing mechanisms respectively complete the movement in the up and down, front and back, and left and right directions. The movement of the three mechanisms is completed by the lifting, luffing and slewing inverters driving the corresponding motors. After the three-mechanism inverter receives the handle signal in the driver's cab, it drives the operation of the corresponding mechanism, thus completing the heavy object moving work.

[0003] The tower crane one-button call technology enables the three-mechanism inverter to work together to automatically move the hook from one position to another specified position without the need for the tower crane driver to control the handle.

[0004] In the tower crane one-button calling technology, without the operation of the tower crane driver, the ground personnel carry a portable wearable device with GPS positioning and wireless communication functions. The coordinates of the ground personnel's current position are calibrated by the portable device, and the tower crane hook can be directly called to automatically run to the position of the ground personnel without the intervention of the tower crane driver. Finally, the ground personnel use the gesture recognition bracelets worn on their left and right hands to fine-tune the hook in six directions of up, down, left, right, front and back through gesture control, and move the hook accurately to the designated lifting position.

[0005] The six directions of up, down, left, right, front and back in this technology are based on the perspective of the tower crane driver's cab. For the personnel on the ground carrying portable wearable devices, their relative position to the hook is random. When the ground personnel control the hook through the gesture recognition bracelet, they need to put themselves in the perspective of the driver on the tower to control it. Therefore, this operation method brings great inconvenience to the ground operators. Due to the non-intuitive perspective, it is easy to cause directional operation errors.

[0006] Therefore, how to provide a tower crane control method with a more intuitive control perspective is a problem that technical personnel in this field urgently need to solve. Summary of the invention

[0007] In view of this, the present invention proposes a tower crane control method with adaptive viewing direction change, which facilitates ground personnel to control the movement direction of the tower crane hook more intuitively, and gets rid of the unintuitiveness of ground personnel needing to control the hook movement according to the viewing direction of the tower crane driver.

[0008] In order to achieve the above object, the present invention adopts the following technical solution:

[0009] The present invention discloses a tower crane control method with adaptive viewing angle direction change, wherein the tower crane controls the movement of a hook through a luffing mechanism and a rotating mechanism of a boom; a ground terminal wirelessly controls the movement directions of the luffing mechanism and the rotating mechanism; and the method comprises the following steps:

[0010] S1: Unify the motion coordinate system of the luffing mechanism and the rotating mechanism and the GPS differential positioning coordinate system of the ground personnel to establish a unified coordinate system;

[0011] S2: Determine, in the unified coordinate system, a target movement direction of controlling the hook to move forward, backward, leftward and / or rightward according to the position of the ground terminal relative to the hook;

[0012] S3: Based on the current position of the boom in the unified coordinate system, determine the movement direction of the luffing mechanism and the movement direction of the rotating mechanism in the unified coordinate system; wherein the movement direction of the luffing mechanism is collinear with the direction of the boom, and the movement direction of the rotating mechanism is perpendicular to the direction of the boom;

[0013] S4: Decomposing the speed in the target motion direction along the motion directions of the luffing mechanism and the rotation mechanism, respectively, to obtain a luffing mechanism speed component and a rotation mechanism speed component;

[0014] S5: Control the movement of the luffing mechanism and the rotating mechanism according to the velocity component of the luffing mechanism and the velocity component of the rotating mechanism, and repeat S4-S5 in real time while the hook moves along the target movement direction until the hook reaches the target position.

[0015] Preferably, the tower crane is provided with an angle sensor for sensing the rotation angle of the rotating mechanism, and the ground terminal has a GPS module; the step of establishing a unified coordinate system in S1 comprises:

[0016] A Cartesian coordinate system is established with the starting point of the boom as the origin and any direction as the positive direction of the X-axis;

[0017] The positive direction of the X-axis of the angle sensor and the positive direction of the X-axis of the GPS module are calibrated as a 0 degree position.

[0018] Preferably, in S2, the direction of the ground personnel toward the hook is used as the target movement direction for controlling the hook to move forward in the unified coordinate system, and the corresponding target movement directions of backward, left and right are determined.

[0019] Preferably, in said S4, the step of decomposing the speed of the target moving direction for controlling the hook to move forward comprises:

[0020] The speed V in the moving direction of the target is 前进Decompose along the movement direction of the variable amplitude mechanism to obtain V 臂 as follows:

[0021]

[0022] The speed V in the moving direction of the target is 前进 Decompose along the direction of motion of the rotating mechanism to obtain V 切 as follows:

[0023]

[0024] Wherein, r is the distance from the hook to the origin; d is the distance from the ground terminal to the origin, α is the angle between the line connecting the ground terminal and the origin and the positive direction of the X-axis, and β is the rotation angle of the boom relative to the positive direction of the X-axis.

[0025] Preferably, in said S4, the step of decomposing the speed of the target moving direction for controlling the hook to retreat comprises:

[0026] The speed V in the direction of the target moving backward 后退 Decompose along the movement direction of the variable amplitude mechanism to obtain V 臂 as follows:

[0027]

[0028] The speed V in the direction of the target moving backward 后退 Decompose along the direction of motion of the rotating mechanism to obtain V 切 as follows:

[0029]

[0030] Wherein, r is the distance from the hook to the origin; d is the distance from the ground terminal to the origin, α is the angle between the line connecting the ground terminal and the origin and the positive direction of the X-axis, and β is the rotation angle of the boom relative to the positive direction of the X-axis.

[0031] Preferably, in said S4, the step of decomposing the speed of controlling the target movement direction of the hook to the right comprises:

[0032] The speed V in the rightward target motion direction 向右 Decompose along the movement direction of the variable amplitude mechanism to obtain V 臂 as follows:

[0033]

[0034] The speed V in the rightward target motion direction 向右Decompose along the direction of motion of the rotating mechanism to obtain V 切 as follows:

[0035]

[0036] Wherein, r is the distance from the hook to the origin; d is the distance from the ground terminal to the origin, α is the angle between the line connecting the ground terminal and the origin and the positive direction of the X-axis, and β is the rotation angle of the boom relative to the positive direction of the X-axis.

[0037] Preferably, in said S4, the step of decomposing the speed of controlling the target moving direction of the hook to the left comprises:

[0038] The speed V in the leftward target motion direction 向左 Decompose along the movement direction of the variable amplitude mechanism to obtain V 臂 as follows:

[0039]

[0040] The speed V in the leftward target motion direction 向左 Decompose along the direction of motion of the rotating mechanism to obtain V 切 as follows:

[0041]

[0042] Wherein, r is the distance from the hook to the origin; d is the distance from the ground terminal to the origin, α is the angle between the line connecting the ground terminal and the origin and the positive direction of the X-axis, and β is the rotation angle of the boom relative to the positive direction of the X-axis.

[0043] Preferably, it also includes:

[0044] Decompose the speed of the target motion direction along the motion direction of the rotating mechanism to obtain V 切 Convert to angular velocity W 旋转 ;

[0045] According to the angular velocity W 旋转 Control the movement of rotating mechanisms.

[0046] It can be seen from the above technical solution that, compared with the prior art, the beneficial effects of the present invention include:

[0047] The present invention enables ground operators to control the movement of the tower crane hook in the direction of their own viewing angle, thereby avoiding operational inconvenience and possible direction judgment errors caused by viewing angle differences in the traditional operating mode, thereby significantly improving the intuitiveness and accuracy of the operation.

[0048] The present invention reduces the cognitive burden of ground operators during the operation process, allowing ground operators carrying tower crane one-button calling equipment to complete hoisting tasks more easily, thereby improving the overall user experience.

[0049] Since the present invention reduces the time for operating errors and re-adjusting the hook position, this method helps to speed up the construction progress, improve the work efficiency at the construction site, help reduce the risk of accidents at the construction site, and ensure the safety of on-site workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below. Obviously, the drawings in the following description are only embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the provided drawings without creative work.

[0051] Figure 1 A flow chart of a tower crane control method with adaptive viewing direction change provided by an embodiment of the present invention;

[0052] Figure 2 A schematic diagram of controlling the direction of a hook using the perspective of a tower crane driver's cab as a reference direction provided by an embodiment of the present invention;

[0053] Figure 3 A schematic diagram of controlling the direction of a hook using the ground personnel's perspective as a reference direction provided by an embodiment of the present invention;

[0054] Figure 4 A schematic diagram of a uniformly established Cartesian coordinate system provided in an embodiment of the present invention;

[0055] Figure 5 A schematic diagram of a motion direction component of a luffing mechanism and a motion direction component of a rotating mechanism in a forward target motion direction provided by an embodiment of the present invention;

[0056] Figure 6 A schematic diagram of a luffing mechanism motion direction component and a rotating mechanism motion direction component in a backward target motion direction provided by an embodiment of the present invention;

[0057] Figure 7 A schematic diagram of a motion direction component of a luffing mechanism and a motion direction component of a rotating mechanism in a forward target motion direction provided by an embodiment of the present invention;

[0058] Figure 8 A schematic diagram of a motion direction component of a luffing mechanism and a motion direction component of a rotating mechanism in a forward target motion direction provided by an embodiment of the present invention;

[0059] Fig. 9 V provided by the embodiment of the present invention 前进 Schematic diagram of decomposed velocity;

[0060] Fig.10 V provided by the embodiment of the present invention 向右 Schematic diagram of the decomposed velocity. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0062] First, a brief description of the one-key call system is required:

[0063] The one-button call system mainly relies on RTK differential positioning technology to obtain the longitude and latitude of the rigger. Then the longitude and latitude are converted into the execution coordinate system required by the tower crane. By obtaining the longitude and latitude coordinates of the real-time wire locker of RTK differential, the Mercator projection is used to expand it into a geodetic coordinate system; the longitude and latitude coordinates of the origin of the calibrated tower crane are known and expanded into a geodetic coordinate system using the Mercator projection; the geodetic coordinate system of the origin of the tower crane is subtracted from the geodetic coordinate system of the real-time rigger position, and then converted into a plane rectangular coordinate system with the center of the tower crane as the origin; and finally converted into a tower crane circular coordinate system through the rectangular coordinate system. In this way, the centimeter-level circular coordinate system of the tower crane of the rigger is positioned and the coordinate system is realized, and the coordinate positioning of the remote control of the tower crane by the ground personnel is completed. Further, the tower crane is automatically operated to the position of the operator by sending instructions through the mobile phone app; the tower crane is controlled by the somatosensory recognition bracelet to make fine adjustments in six directions: up, down, left, right, front, and back.

[0064] like Figure 1 As shown, an embodiment of the present invention provides a tower crane control method with adaptive viewing direction change, wherein the tower crane controls the movement of the hook through the luffing mechanism and the rotating mechanism of the boom; the ground terminal wirelessly controls the movement direction of the luffing mechanism and the rotating mechanism; and the method comprises the following steps:

[0065] S1: Unify the motion coordinate system of the luffing mechanism and the rotating mechanism and the GPS differential positioning coordinate system of the ground personnel to establish a unified coordinate system;

[0066] S2: According to the position of the ground terminal relative to the hook, determine the target movement direction of the hook forward, backward, left and / or right in a unified coordinate system;

[0067] S3: Based on the current position of the boom in the unified coordinate system, determine the movement direction of the luffing mechanism and the movement direction of the rotating mechanism in the unified coordinate system; wherein the movement direction of the luffing mechanism is collinear with the direction of the boom, and the movement direction of the rotating mechanism is perpendicular to the direction of the boom;

[0068] S4: Decomposing the speed in the target motion direction along the motion direction of the luffing mechanism and the motion direction of the rotating mechanism respectively to obtain a velocity component of the luffing mechanism and a velocity component of the rotating mechanism;

[0069] S5: Control the movement of the luffing mechanism and the rotating mechanism according to the velocity component of the luffing mechanism and the velocity component of the rotating mechanism, and repeat S4-S5 in real time while the hook moves along the target movement direction until the hook reaches the target position.

[0070] In this embodiment, the ground terminal can use a wearable device, including a gesture recognition bracelet, and the ground personnel can control the movement direction of the tower crane hook through the gesture recognition bracelet. When the ground personnel use the gesture recognition bracelet to control the hook motor motion control device to issue a motion command and control the hook movement, the direction in which the ground personnel face the hook is used as the hook forward direction, and then the left, right, and back movement directions of the hook are determined in sequence, while the hook's rising and falling directions remain unchanged.

[0071] like Figure 2 The figure shows the direction of the tower crane hook movement when the ground operator uses the gesture recognition bracelet to control the tower crane hook movement when the tower crane one-key call system is used without using the method of the embodiment of the present invention. When the ground operator issues a forward command, the hook moves forward along the tower crane boom; when the ground operator issues a backward command, the hook moves backward along the tower crane boom; when the ground operator issues a leftward movement, the hook performs a rotary circular motion to the left; when the ground operator issues a rightward movement, the hook performs a rotary circular motion to the right.

[0072] like Figure 3 As shown, when the method of the embodiment of the present invention is used and the tower crane one-button call system is used, when the ground operator uses the gesture recognition bracelet to control the direction of the tower crane hook movement. With the participation of the present invention, the straight line formed by the ground operator and the hook is always taken as the hook's forward movement direction, the operator's back is taken as the hook's backward movement direction, the operator's left hand is taken as the hook's leftward movement direction, and the operator's right hand is taken as the hook's rightward movement direction.

[0073] After using the method of the present invention, the ground operator's perspective for controlling the movement of the hook is equivalent to that of the tower crane driver, and they can each control the movement of the hook in the direction of their own perspective.

[0074] In one embodiment, the tower crane is provided with an angle sensor for sensing the rotation angle of the rotating mechanism, and the ground terminal has a GPS module; Figure 4 As shown, the steps of establishing a unified coordinate system in S1 include:

[0075] A Cartesian coordinate system is established with the starting point of the crane arm as the origin and any direction as the positive direction of the X-axis;

[0076] The positive direction of the X-axis of the angle sensor and the positive direction of the X-axis of the GPS module are calibrated as 0 degrees.

[0077] In this embodiment, the tower crane is also provided with a distance sensor for sensing the moving distance of the luffing mechanism and a distance sensor for sensing the lifting height of the hook; the distance sensor and the angle sensor jointly participate in the real-time control step of the hook in this embodiment.

[0078] In one embodiment, in S2, the direction of the ground personnel toward the hook is used as the target movement direction for controlling the hook to move forward in the unified coordinate system, and the corresponding target movement directions of backward, left and right are determined.

[0079] For the ground operator to control the speed V of the hook movement 前进 , V 后退 , V 向左 , V 向右 . V 前进 , V 后退 , V 向左 , V 向右 Decompose the velocity V along the boom direction 臂 , that is, the movement speed of the tower crane's luffing mechanism. And the speed in the vertical direction of the boom, that is, the tangential speed of the hook moving in a circle around the tower crane body when the boom rotates, V 切 Thus, the ground operator can control the hook forward speed V 前进 , V 后退 , V 向左 , V 向右 It is manifested by the joint movement of the tower crane rotating mechanism and the luffing mechanism. The following is an explanation with a specific embodiment:

[0080] In one embodiment, Figure 5 and Fig. 9 As shown, in S4, the step of decomposing the speed of the target moving direction of the hook includes:

[0081] Set the speed V in the direction of the target's forward motion 前进 Decompose along the direction of movement of the variable amplitude mechanism to obtain V 臂 as follows:

[0082] The cosine theorem can be used to calculate the operator's position L to the hook:

[0083] l = d 2 +r 2 -2rd cos(a+β) (1)

[0084] The angle θ between the forward direction and the boom can be calculated again by the cosine theorem:

[0085]

[0086] Luffing mechanism movement speed V 臂 for:

[0087] V 臂 =-V 前进 cosθ (3)

[0088] Substitute formula (1) into formula (2) to obtain θ, and finally obtain V 臂 for:

[0089]

[0090] Rotating mechanism movement speed V 切 for:

[0091]

[0092] Similarly, substituting into θ, we can obtain V 切 for:

[0093]

[0094] Where r is the distance from the hook to the origin; d is the distance from the ground terminal to the origin; α is the angle between the line connecting the ground terminal and the origin and the positive direction of the X-axis; β is the rotation angle of the boom relative to the positive direction of the X-axis.

[0095] In this embodiment, when the ground operator controls the hook to move forward, the forward direction of the hook and the angle of the boom are also constantly changing. Therefore, during the movement control process, the movement speed of the luffing mechanism and the movement speed of the rotating mechanism are continuously calculated based on the distance between the hook and the origin and the rotation angle of the boom, and the speed set value is adjusted in real time.

[0096] In one embodiment, Figure 6 As shown, in S4, the step of decomposing the speed of the target moving direction of controlling the hook to retreat includes:

[0097] V 后退 and V 前进 The speeds are in opposite directions, so they can be directly obtained by equations (4) and (6).

[0098] When the operator issues a retreat command, V 切 and V 臂 The calculation formula is:

[0099]

[0100] Where r is the distance from the hook to the origin; d is the distance from the ground terminal to the origin; α is the angle between the line connecting the ground terminal and the origin and the positive direction of the X-axis; β is the rotation angle of the boom relative to the positive direction of the X-axis.

[0101] In one embodiment, Figure 8 and Fig.10 As shown, in S4, the step of decomposing the speed of the target moving direction of the hook to the right includes:

[0102] According to the angle relationship, the included angle between the right direction and the crane arm can be obtained as γ:

[0103] γ=90°-θ (9)

[0104] Luffing mechanism movement speed V 臂 for:

[0105] V 臂 =V 向右 cosγ (10)

[0106] Rotating mechanism speed V 切 for:

[0107] V 切 =V 向右 sinγ (11)

[0108] According to formula (1) and formula (2), V can be obtained 臂 and V 切 They are:

[0109]

[0110] Where r is the distance from the hook to the origin; d is the distance from the ground terminal to the origin; α is the angle between the line connecting the ground terminal and the origin and the positive direction of the X-axis; β is the rotation angle of the boom relative to the positive direction of the X-axis.

[0111] In one embodiment, Figure 7 As shown, in S4, the step of decomposing the speed of the target moving direction of the hook to the left includes:

[0112] Since V 向右 and V 向左 , the speeds are equal in magnitude and opposite in direction, so V can be directly obtained from formula (12) and formula (13): 向左 During exercise, the decomposed V臂 and V 切 for:

[0113]

[0114] Where r is the distance from the hook to the origin; d is the distance from the ground terminal to the origin; α is the angle between the line connecting the ground terminal and the origin and the positive direction of the X-axis; β is the rotation angle of the boom relative to the positive direction of the X-axis.

[0115] In one embodiment, the calculated V 臂 and V 切 , using the wireless transmission function, it is sent to the motor control system of the tower crane. Since the motor control system controls the angular velocity when controlling the slewing mechanism, it also includes the following steps:

[0116] Decompose the speed of the target motion direction along the motion direction of the rotating mechanism to obtain V 切 Convert to angular velocity W 旋转 :

[0117]

[0118] Finally, V 臂 and W 旋转 The data is sent to the tower crane motor control system through the wireless transmission function to input the control speed, thus realizing the motion control of the luffing mechanism and the rotating mechanism.

[0119] The tower crane control method with adaptive viewing direction change provided by the present invention is introduced in detail above. In this embodiment, specific examples are applied to illustrate the principle and implementation mode of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation mode and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

[0120] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined in the present embodiments may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown in the present embodiment, but will conform to the widest range consistent with the principles and novel features disclosed in the present embodiment.

Claims

1. A tower crane control method with adaptive viewing angle direction change, wherein the tower crane controls the movement of the hook through the luffing mechanism and the rotating mechanism of the boom; characterized in that: The ground terminal wirelessly controls the movement direction of the luffing mechanism and the rotating mechanism; the steps include: S1: Unify the motion coordinate system of the luffing mechanism and the rotating mechanism and the GPS differential positioning coordinate system of the ground personnel to establish a unified coordinate system; S2: Determine, in the unified coordinate system, a target movement direction of controlling the hook to move forward, backward, leftward and / or rightward according to the position of the ground terminal relative to the hook; S3: Based on the current position of the boom in the unified coordinate system, determine the movement direction of the luffing mechanism and the movement direction of the rotating mechanism in the unified coordinate system; wherein the movement direction of the luffing mechanism is collinear with the direction of the boom, and the movement direction of the rotating mechanism is perpendicular to the direction of the boom; S4: Decomposing the speed in the target motion direction along the motion directions of the luffing mechanism and the rotation mechanism, respectively, to obtain a luffing mechanism speed component and a rotation mechanism speed component; S5: Control the movement of the luffing mechanism and the rotating mechanism according to the velocity component of the luffing mechanism and the velocity component of the rotating mechanism, and repeat S4-S5 in real time while the hook moves along the target movement direction until the hook reaches the target position.

2. The tower crane control method with adaptive viewing direction change according to claim 1, characterized in that: The tower crane is provided with an angle sensor for sensing the rotation angle of the rotating mechanism, and the ground terminal has a GPS module; the step of establishing a unified coordinate system in S1 includes: A Cartesian coordinate system is established with the starting point of the crane arm as the origin and any direction as the positive direction of the X-axis; The positive direction of the X-axis of the angle sensor and the positive direction of the X-axis of the GPS module are calibrated as a 0 degree position.

3. The tower crane control method with adaptive viewing direction change according to claim 1, characterized in that: In S2, the direction of the ground personnel toward the hook is used as the target movement direction for controlling the hook to move forward in the unified coordinate system, and the corresponding target movement directions of backward, leftward and rightward are determined.

4. The tower crane control method with adaptive viewing direction change according to claim 2, characterized in that: In S4, the step of decomposing the speed of the target moving direction of the hook includes: The speed V in the moving direction of the target is 前进 Decompose along the movement direction of the variable amplitude mechanism to obtain V 臂 as follows: The speed V in the moving direction of the target is 前进 Decompose along the direction of motion of the rotating mechanism to obtain V 切 as follows: Wherein, r is the distance from the hook to the origin; d is the distance from the ground terminal to the origin, α is the angle between the line connecting the ground terminal and the origin and the positive direction of the X-axis, and β is the rotation angle of the boom relative to the positive direction of the X-axis.

5. The tower crane control method with adaptive viewing direction change according to claim 2, characterized in that: In S4, the step of decomposing the speed of the target moving direction for controlling the hook to retreat comprises: The speed V in the direction of the target moving backward 后退 Decompose along the movement direction of the variable amplitude mechanism to obtain V 臂 as follows: The speed V in the direction of the target moving backward 后退 Decompose along the direction of motion of the rotating mechanism to obtain V 切 as follows: Wherein, r is the distance from the hook to the origin; d is the distance from the ground terminal to the origin, α is the angle between the line connecting the ground terminal and the origin and the positive direction of the X-axis, and β is the rotation angle of the boom relative to the positive direction of the X-axis.

6. The tower crane control method with adaptive viewing direction change according to claim 2, characterized in that: In S4, the step of decomposing the speed of the target moving direction of the hook to the right includes: The speed V in the rightward target motion direction 向右 Decompose along the movement direction of the variable amplitude mechanism to obtain V 臂 as follows: The speed V in the rightward target motion direction 向右 Decompose along the direction of motion of the rotating mechanism to obtain V 切 as follows: Wherein, r is the distance from the hook to the origin; d is the distance from the ground terminal to the origin, α is the angle between the line connecting the ground terminal and the origin and the positive direction of the X-axis, and β is the rotation angle of the boom relative to the positive direction of the X-axis.

7. The tower crane control method with adaptive viewing direction change according to claim 2, characterized in that: In S4, the step of decomposing the speed of the target moving direction of the hook to the left includes: The speed V in the leftward target motion direction 向左 Decompose along the movement direction of the variable amplitude mechanism to obtain V 臂 as follows: The speed V in the leftward target motion direction 向左 Decompose along the direction of motion of the rotating mechanism to obtain V 切 as follows: Wherein, r is the distance from the hook to the origin; d is the distance from the ground terminal to the origin, α is the angle between the line connecting the ground terminal and the origin and the positive direction of the X-axis, and β is the rotation angle of the boom relative to the positive direction of the X-axis.

8. A tower crane control method with adaptive viewing direction change according to any one of claims 4 to 7, characterized in that: Also includes: Decompose the speed of the target motion direction along the motion direction of the rotating mechanism to obtain V 切 Convert to angular velocity W 旋转 ; According to the angular velocity W 旋转 Control the movement of rotating mechanisms.

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