Tower crane control method, unmanned tower crane control method and stable hook controller

Abstract

The embodiment of the invention provides a tower crane control method, an unmanned tower crane control method and a stable hook controller. The tower crane control method comprises the following steps: acquiring a first control signal for indicating the tower crane to move; detecting a motion trend of the tower crane in response to the first control signal; under the condition that the motion trend is determined to be the variable-speed motion trend, superposing a pulse signal on the first control signal so as to convert the linear first control signal into a nonlinear second control signal; and inputting the second control signal into a tower crane controller, so that the tower crane controller controls the tower crane to move based on the second control signal. According to the technical scheme provided by the embodiment of the invention, automatic hook stabilizing control on the tower crane is realized.

Description

Technical Field

[0001] This application relates to the field of control technology, and in particular to a tower crane control method, an unmanned tower crane control method, a hook stabilizer controller, a computing device, and a computer program product. Background Technology

[0002] Tower cranes, widely used heavy lifting equipment in the construction industry, are primarily used to transfer heavy objects in three-dimensional space. Their structure mainly includes a hoisting mechanism, a luffing mechanism, and a slewing mechanism. The hoisting mechanism adjusts the vertical position of the load; the luffing mechanism controls the horizontal movement of the load along the boom; and the slewing mechanism controls the overall rotation of the tower crane within its working range. Due to the large working space, heavy load, and frequent starts and stops of tower cranes, the hook is prone to swaying due to inertia during operation, severely affecting positioning accuracy and operational safety.

[0003] The swaying of the hook is mainly caused by the acceleration and deceleration of the tower crane, especially during the slewing start-up and shutdown phases. The changes in the inertia of the tower crane can exert a sudden impact force on the suspended load, causing the steel cable to sway. This swaying not only increases the bending moment and torque borne by the tower crane structure, affecting the stability and service life of the equipment, but may also cause safety accidents such as cargo falling and personal injury.

[0004] Therefore, how to control the sway of tower cranes has become an urgent technical problem to be solved. Summary of the Invention

[0005] This application provides a tower crane control method, an unmanned tower crane control method, a hook stabilizer controller, a computing device, and a computer program product.

[0006] In a first aspect, embodiments of this application provide a tower crane control method, including:

[0007] Acquire the first control signal used to instruct the tower crane's movement;

[0008] The movement trend of the tower crane in response to the first control signal is detected;

[0009] When the motion trend is determined to be a variable speed motion trend, a pulse signal is superimposed on the first control signal to convert the linear first control signal into a nonlinear second control signal.

[0010] The second control signal is input to the tower crane controller so that the tower crane controller can control the movement of the tower crane based on the second control signal;

[0011] When the movement trend of the tower crane is detected as stationary, the movement state of the hook is obtained;

[0012] Generate a hook-following control signal based on the motion state of the hook;

[0013] The hook-following control signal is input to the tower crane controller so that the tower crane controller can perform hook-following control on the hook based on the hook-following control signal.

[0014] Secondly, this application provides a control method for an unmanned tower crane, including:

[0015] A first control signal generated by a control model is acquired. The first control signal is used to instruct the tower crane to move. The control model is used to generate the first control signal based on the collected environmental information.

[0016] The movement trend of the tower crane in response to the first control signal is detected;

[0017] When the motion trend is determined to be a variable speed motion trend, a pulse signal is superimposed on the first control signal to convert the linear first control signal into a nonlinear second control signal.

[0018] The second control signal is input to the tower crane controller so that the tower crane controller can control the movement of the tower crane based on the second control signal;

[0019] When the movement trend of the tower crane is detected as stationary, the movement state of the hook is obtained;

[0020] Generate a hook-following control signal based on the motion state of the hook;

[0021] The hook-following control signal is input to the tower crane controller so that the tower crane controller can perform hook-following control on the hook based on the hook-following control signal.

[0022] Thirdly, this application provides a hook stabilizer controller, including:

[0023] The first control signal receiving module is used to acquire the first control signal used to indicate the movement of the tower crane;

[0024] A motion trend detection module is used to detect the motion trend of the tower crane in response to the first control signal;

[0025] The second control signal generation module is used to superimpose a pulse signal on the first control signal when the motion trend is determined to be a variable speed motion trend, so as to convert the linear first control signal into a nonlinear second control signal.

[0026] The control module is used to input the second control signal into the tower crane controller, so that the tower crane controller can control the movement of the tower crane based on the second control signal;

[0027] The hook status detection module is used to obtain the motion status of the hook when the tower crane's motion trend is detected as stationary.

[0028] The hook following signal generation module is used to generate a hook following control signal based on the motion state of the hook;

[0029] The hook-following control module is used to input the hook-following control signal into the tower crane controller, so that the tower crane controller can perform hook-following control on the hook based on the hook-following control signal.

[0030] Fourthly, this application provides a computing device, including a processing component and a storage component;

[0031] The storage component stores a computer program; the computer program is invoked and executed by the processing component to implement the tower crane control method provided in the embodiments of this application, or to implement the unmanned tower crane control method provided in the embodiments of this application.

[0032] Fifthly, this application provides a computer program product, including a computer program or instructions, which, when executed by a processing component, implements the tower crane control method provided in this application embodiment, or implements the unmanned tower crane control method provided in this application embodiment.

[0033] This application embodiment employs the following technical solution: acquiring a first control signal to indicate the tower crane's movement; detecting the tower crane's movement trend in response to the first control signal; when the movement trend is determined to be a variable speed movement trend, superimposing a pulse signal on the first control signal to convert the linear first control signal into a nonlinear second control signal; and inputting the second control signal into the tower crane controller so that the tower crane controller can control the tower crane's movement based on the second control signal. By introducing a nonlinear signal, the input mode of the tower crane's power system is changed, so that it no longer operates in a single uniform acceleration or deceleration mode, but is decomposed into multiple stages of small-amplitude acceleration and adjustment processes. This change in signal form can effectively reduce the sudden excitation of the hook-suspended load during the tower crane's start-up and shutdown process, thereby reducing the swing amplitude of the hook due to inertia and realizing automated hook stabilization control of the tower crane.

[0034] These or other aspects of this application will become more apparent in the following description of the embodiments. Attached Figure Description

[0035] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0036] Figure 1 A flowchart illustrating one embodiment of a tower crane control method provided in this application;

[0037] Figure 2 A flowchart illustrating an embodiment of the control method for an unmanned tower crane provided in this application;

[0038] Figure 3 A block diagram of one embodiment of a stabilizing hook controller provided in this application;

[0039] Figure 4 A block diagram of one embodiment of a computing device provided in this application. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0041] It should be noted that, in the cases involving user information in the embodiments of this application, the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in the embodiments of this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse. In addition, the various models involved in this application (including but not limited to language models or large models) comply with relevant laws and standards.

[0042] Tower cranes, widely used heavy lifting equipment in the construction industry, are primarily used to transfer heavy objects in three-dimensional space. Their structure mainly includes a hoisting mechanism, a luffing mechanism, and a slewing mechanism. The hoisting mechanism adjusts the vertical position of the load; the luffing mechanism controls the horizontal movement of the load along the boom; and the slewing mechanism controls the overall rotation of the tower crane within its working range. Due to the large working space, heavy load, and frequent starts and stops of tower cranes, the hook is prone to swaying due to inertia during operation, severely affecting positioning accuracy and operational safety.

[0043] The swaying of the hook is mainly caused by the acceleration and deceleration of the tower crane, especially during the slewing start-up and shutdown phases. The changes in the inertia of the tower crane can exert a sudden impact force on the suspended load, causing the steel cable to sway. This swaying not only increases the bending moment and torque borne by the tower crane structure, affecting the stability and service life of the equipment, but may also cause safety accidents such as cargo falling and personal injury.

[0044] In traditional manual operation, experienced tower crane operators can observe the hook's condition and, based on their own experience, make "fine-tuning" adjustments during acceleration, deceleration, and stopping to effectively suppress hook sway. For example, at the moment of stopping, they can slightly adjust the tower crane's slewing mechanism in the opposite direction of the hook's sway to counteract residual kinetic energy and achieve a stable hook. However, with the increasing demand for intelligent and unmanned equipment in the construction industry, how to transform this kind of manual experience into automatically executable control strategies has become a key technical challenge in realizing unmanned tower crane operation.

[0045] This application embodiment employs the following technical solution: acquiring a first control signal to indicate the tower crane's movement; detecting the tower crane's movement trend in response to the first control signal; when the movement trend is determined to be a variable speed movement trend, superimposing a pulse signal on the first control signal to convert the linear first control signal into a nonlinear second control signal; and inputting the second control signal into the tower crane controller so that the tower crane controller can control the tower crane's movement based on the second control signal. By introducing a nonlinear signal, the input mode of the tower crane's power system is changed, so that it no longer operates in a single uniform acceleration or deceleration mode, but is decomposed into multiple stages of small-amplitude acceleration and adjustment processes. This change in signal form can effectively reduce the sudden excitation of the hook-suspended load during the tower crane's start-up and shutdown process, thereby reducing the swing amplitude of the hook due to inertia and realizing automated hook stabilization control of the tower crane.

[0046] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0047] Figure 1 This is a flowchart illustrating one embodiment of a tower crane control method provided in this application. This method can be applied to a hook stabilizer controller.

[0048] Figure 1 The tower crane control method shown may include the following steps:

[0049] 101: Obtain the first control signal used to indicate the movement of the tower crane.

[0050] The first control signal can originate from an operating handle, or it can originate from an automated control system, which can be implemented as a control model. The control model makes decisions and outputs based on collected information about the tower crane's operating environment. This environmental information can include the distribution of obstacles around the tower crane, wind speed, load weight, target position commands, etc. This information is acquired in real time by various sensors (such as LiDAR, vision recognition systems, weight sensors, GPS, etc.) and input into the control model for comprehensive analysis and judgment. Based on the current operating conditions and task objectives, the control model generates corresponding first control signals to drive the tower crane to perform specific actions, such as initiating slewing, accelerating, decelerating, or stopping.

[0051] In the embodiments of this application, the control model can be implemented as a deep learning model, a machine learning model, or other forms of intelligent control model. Its core function is to simulate the ability of a human tower crane operator to perform path planning and motion control in a complex environment, thereby realizing the unmanned driving function of the tower crane.

[0052] The control model can automatically generate a first control signal to guide the tower crane's actions by fusing the aforementioned environmental information and combining it with a preset task objective (such as transferring a heavy object from point A to point B and accurately positioning it). This signal is typically expressed as motion commands to various mechanisms of the tower crane (such as the slewing mechanism, luffing mechanism, and hoisting mechanism), including curves showing changes in parameters such as direction, speed, and acceleration, to drive the tower crane to complete the corresponding actions.

[0053] If the control model employs a deep learning framework, such as a convolutional neural network (CNN), recurrent neural network (RNN), long short-term memory network (LSTM), or reinforcement learning, it can be trained with a large amount of real-world operational data, enabling it to learn autonomously. For example, using reinforcement learning, target reward functions such as "stable hook," "accurate positioning," and "low energy consumption" can be set, allowing the control model to optimize its control strategy through continuous trial and error, ultimately forming a universal control logic applicable to various operational scenarios.

[0054] If machine learning models such as support vector machines (SVM), random forests, and Bayesian networks are used, the focus is more on rule-based and feature extraction methods to summarize the optimal control strategy from existing operational data and make rapid responses in new environments.

[0055] The first control signal can be represented as a linearly changing voltage or current signal, used to characterize the desired speed and direction of movement of the tower crane.

[0056] 102: Detect the movement trend of the tower crane in response to the first control signal.

[0057] In embodiments of this application, the movement trend of the tower crane in response to a first control signal can be predicted before the tower crane actually begins to move. For example, when the control signal shows an upward trend, it indicates that the operator is pushing the tower crane to start rotating from a stationary state; if the control signal decreases, it indicates that the tower crane will enter a deceleration or stopping phase.

[0058] Furthermore, this trend detection is not limited to changes in signal amplitude; it can also include the analysis of the derivatives of the control signal. That is, by calculating the rate of change of the signal, it can be determined whether the tower crane is in a variable-speed motion state. For example, when the first derivative of the control signal is not zero, it indicates that the tower crane is accelerating or decelerating; while when the second derivative changes, it may indicate that the operator is adjusting the acceleration, and the tower crane is about to enter a new phase of motion.

[0059] By employing the above methods, the future movement trend of the tower crane can be accurately identified even before the crane exhibits significant mechanical movement. This "proactive" detection mechanism provides a time window for subsequent control strategies, allowing the hook controller to optimize control signals before the crane begins to move, thereby more effectively suppressing hook sway and improving operational stability.

[0060] 103: When the motion trend is determined to be a variable speed motion trend, a pulse signal is superimposed on the first control signal to convert the linear first control signal into a nonlinear second control signal.

[0061] When the tower crane's movement trend is detected to be variable speed movement, i.e., in the start-up acceleration or deceleration and stop phase, a specific type of pulse signal can be superimposed on the original first control signal.

[0062] In one embodiment of this application, by superimposing a pulse signal onto the first control signal, the originally linear control signal can be converted into a nonlinear second control signal. The introduction of this nonlinear signal alters the input method of the tower crane's power system, preventing it from operating in a single, uniform acceleration or deceleration manner, instead decomposing it into multiple stages of small-amplitude acceleration and adjustment processes. This change in signal form can effectively mitigate the sudden excitation of the hook's suspended load during the tower crane's start-up and shutdown processes, thereby reducing the swing amplitude of the hook due to inertia.

[0063] 104: Input the second control signal into the tower crane controller so that the tower crane controller can control the movement of the tower crane based on the second control signal.

[0064] The generated second control signal can then be input to the tower crane controller to drive the actual movement of the tower crane. The tower crane controller can adjust the motor output power according to this second control signal, thereby controlling the movement behavior of the slewing mechanism. In this way, the tower crane can automatically achieve a stable hooking effect similar to the "following the hook" action of a skilled operator without relying on human experience, thereby improving the safety and efficiency of equipment operation.

[0065] The entire tower crane control process requires no human intervention. It can automatically identify speed change stages based on real-time collected motion status information and dynamically adjust the output form of the control signal. This method is applicable to tower crane operation scenarios under different working conditions, and shows good adaptability, especially under complex operating conditions such as frequent starts and stops and variable loads. The tower crane control method provided by the embodiments of this application can not only effectively suppress hook sway, but also improve the overall control performance of the tower crane, providing key technical support for realizing unmanned tower crane operation.

[0066] The tower crane control method may also include a stop and hook stabilization control phase for hook pulsation, in order to suppress residual hook sway when the tower crane is about to stop or is already stationary, thereby achieving high-precision positioning.

[0067] 105: Obtain the motion state of the hook when the tower crane's motion trend is stationary.

[0068] 106: Generate hook control signals based on the motion state of the hook.

[0069] 107: Input the hook-following control signal into the tower crane controller so that the tower crane controller can perform hook-following control on the hook based on the hook-following control signal.

[0070] After the tower crane completes its slewing acceleration or deceleration maneuvers driven by the second control signal, its current motion status can be monitored. At this point, it can be determined whether the tower crane is in a "stationary trend," meaning its slewing speed is approaching zero or is already in a low-speed, near-stop state. This determination can be achieved by detecting the rate of change of speed of the tower crane's slewing mechanism. For example, when the speed drops below a certain set threshold and the acceleration is negative and close to zero, the tower crane can be considered to have entered the stationary trend stage.

[0071] Once the tower crane has been confirmed to be in a stationary state, the motion of the hook can be detected. At this point, sensors (such as gyroscopes, accelerometers, or vision recognition systems) installed on the tower crane's boom or hook can be used to obtain the current motion status of the hook.

[0072] After determining the hook's motion state, the hook stabilization controller can generate a dedicated hook-following control signal to counteract residual sway. This signal may differ from the first and second control signals; it is a short-duration, low-speed, directional control command designed to drive the tower crane to make a slight, slow slewing adjustment along the hook's current sway direction. This fine-tuning action, conforming to the hook's sway direction, simulates the "hook-following" maneuver performed by an experienced tower crane operator at the moment of shutdown, effectively absorbing the hook's remaining kinetic energy and quickly eliminating sway.

[0073] Finally, the hook control signal is input to the tower crane controller. The tower crane controller drives the slewing motor to perform corresponding actions based on the signal, so that the swing of the hook is rapidly reduced due to the reverse torque and eventually stabilizes.

[0074] By automatically identifying and addressing residual hook sway after the tower crane's slewing motion has ended, the safety and efficiency of tower crane operations are improved compared to the traditional method of passively waiting for the hook to stop naturally. This is particularly evident in conditions such as frequent starts and stops and precise positioning.

[0075] This application embodiment employs the following technical solution: acquiring a first control signal to indicate the tower crane's movement; detecting the tower crane's movement trend in response to the first control signal; when the movement trend is determined to be a variable speed movement trend, superimposing a pulse signal on the first control signal to convert the linear first control signal into a nonlinear second control signal; and inputting the second control signal into the tower crane controller so that the tower crane controller can control the tower crane's movement based on the second control signal. When the hook controller determines that it is currently in a variable speed movement state, it superimposes a set of pulse signals on the original linear control signal. The physical mechanism of these pulse signals is to segmentally modulate the change process of the tower crane's acceleration, so that the speed change originally concentrated in a time period is broken down into multiple stages of small-amplitude acceleration and holding processes. This change in the form of the control signal essentially applies a time-distribution strategy to the tower crane's driving energy, thereby avoiding strong excitation of the hook system due to sudden acceleration. Since the swaying of the hook is mainly caused by the sudden speed change during the start-up and shutdown of the tower crane, the role of the pulse signal is to soften this sudden change process, so that the power output of the tower crane is more in line with the inertial response characteristics of the hook system, thus effectively suppressing the swaying of the hook caused by inertia.

[0076] In the embodiments of this application, based on the tower crane's own dynamic characteristics, an input shaper can be introduced to dynamically optimize the original linear control signal, thereby generating a nonlinear control signal more suitable for the tower crane's motion characteristics. This allows the design of control parameters using the tower crane's natural frequency and damping ratio, and the shaping of the input signal to suppress the swaying of the hook caused by acceleration and deceleration. In some embodiments, superimposing a pulse signal on the first control signal can specifically be implemented as follows:

[0077] Determine the control parameters based on the tower crane's natural frequency and damping ratio;

[0078] The control parameters and the first control signal are input into the shaper so that the shaper can generate a pulse signal based on the control parameters, superimpose the pulse signal on the first control signal, and output the second control signal.

[0079] First, the natural frequency and damping ratio of the hook suspension system can be calculated based on the tower crane's structural parameters (such as cable length and load mass). These two parameters reflect the vibration characteristics of the tower crane hook system after being subjected to external excitation. The natural frequency determines the speed of the hook's swing, while the damping ratio affects the rate of swing decay. These parameters can be obtained through theoretical modeling, simulation analysis, or experimental calibration, and serve as the basis for the design of the shaping controller.

[0080] Next, the natural frequency and damping ratio can be input into the shaper. This shaper works based on the ZVD (Zero Vibration Derivative) shaping algorithm. Its basic idea is to superimpose a set of precisely designed pulse signals onto the original control signal, so that the entire control signal exhibits multiple stages of change in the time domain, rather than a linear rising or falling form.

[0081] The ZVD shaper is designed to ensure that the output control signal meets two key conditions while guaranteeing that the tower crane completes the expected acceleration or deceleration: first, to eliminate hook sway caused by initial excitation (i.e., "zero vibration"), and second, to make the hook stabilizer controller insensitive to the rate of change of the control signal (i.e., "zero derivative"), thereby enhancing the robustness of the hook stabilizer controller.

[0082] In actual operation, when the operator issues the first control signal (such as starting slewing or decelerating to stop), the shaper automatically generates a set of pulse signals with specific amplitude, time, and interval based on the current tower crane dynamic parameters, and superimposes them on the original control signal. The resulting second control signal is no longer a simple linear change, but a nonlinear waveform composed of multiple small segments of acceleration-holding-re-acceleration (or deceleration).

[0083] The function of this nonlinear control signal is that it can simulate the "fine-tuning" operation of the tower crane by an experienced operator during start-up and shutdown, so that the tower crane does not suddenly change speed during acceleration or deceleration, but transitions in stages and smoothly, thereby greatly reducing the impact force on the hook and effectively suppressing its swing.

[0084] Finally, the shaped second control signal is sent to the tower crane controller, driving the motor to perform the corresponding actions. Because this signal has undergone dynamic optimization, it can achieve a stable hook effect under open-loop control without relying on sensor feedback, thus improving the tower crane's operational stability and positioning accuracy.

[0085] In embodiments of this application, to achieve more accurate control of the tower crane, a closed-loop feedback optimization stage can be introduced before the shaped second control signal is input to the tower crane controller. This allows for further dynamic adjustment of the shaped second control signal by combining real-time acquired tower crane motion status information. In some embodiments, the method further includes the following step before inputting the second control signal to the tower crane controller:

[0086] Using sensors to acquire the tower crane's motion signals;

[0087] A third control signal is generated based on the motion signal and the second control signal;

[0088] The third control signal is input into the tower crane controller as the second control signal.

[0089] In the embodiments of this application, the tower crane can be equipped with multiple sensors, which can be installed in key parts of the tower crane, such as the slewing mechanism, jib, hook, and drive motor. The sensors are used to collect physical quantities related to the tower crane's movement in real time, such as slewing angle, angular velocity, acceleration, load weight, steel cable length, and hook swing angle. These data reflect the dynamic behavior of the tower crane during actual operation and are an important basis for achieving precise control.

[0090] Next, before the second control signal (i.e., the nonlinear control signal that has already been processed by the input shaper) is sent to the tower crane controller, it can be fused with the current motion signal of the tower crane obtained from the sensor. This signal fusion process can be completed by the control algorithm module of the tower crane controller, whose core function is to dynamically correct the second control signal to ensure that it can more accurately reflect the optimal control requirements of the tower crane under the current operating conditions.

[0091] For example, when the actual operating speed of the tower crane deviates from the expected value due to load changes or wind influence, the control algorithm will adjust the amplitude or duration of the output signal appropriately according to the magnitude and direction of the deviation, so that the tower crane can respond to the operation intention more quickly and maintain stable operation; or, when a slight swaying trend of the hook is detected, the hook stabilizer controller can make fine adjustments to the slewing action in advance to prevent the swaying from aggravating.

[0092] Ultimately, the dynamically optimized control signal can be determined as the third control signal. It not only inherits the advantage of the second control signal in suppressing hook sway caused by initial excitation, but also incorporates information about the tower crane's real-time operating status, resulting in stronger adaptability and robustness. This third control signal is then input to the tower crane controller to drive the tower crane to perform corresponding actions.

[0093] In some embodiments, the motion state includes the swing direction and the swing speed;

[0094] The generation of a hook-following control signal based on the motion state of the hook can be specifically implemented as follows:

[0095] The hook control signal is generated based on the swing direction and swing speed;

[0096] The hook-following control signal is input to the tower crane controller so that the tower crane controller can control the hook-following operation based on the hook-following control signal, including:

[0097] The hook control signal is input to the tower crane controller so that the tower crane controller can control the tower crane to move along the swing direction at the first speed.

[0098] The swing direction refers to the direction in which the hook continues to move due to inertia within the tower crane's slewing plane, while the swing speed reflects the intensity of the hook's swing. For example, if the tower crane has just completed a left-to-right slewing operation, and the hook is still swinging to the right due to inertia, the current swing direction can be identified as "to the right," and its specific swing speed can be calculated.

[0099] After determining the hook's swing direction, the hook-following control signal can be used to drive the tower crane to rotate at a low speed in the direction of the hook's swing, absorbing the hook's remaining kinetic energy and thus eliminating the swing. Specifically, the amplitude of the hook-following control signal (i.e., the tower crane's slewing speed) can be determined based on the swing speed, and the direction of rotation can be determined based on the swing direction. For example, if the hook is swinging to the right at a speed of 0.5 m / s, a control signal can be generated instructing the tower crane to rotate to the right at a low speed (e.g., 0.2 m / s).

[0100] The first speed can be slower than the swing speed of the hook.

[0101] In some embodiments, the method may further include:

[0102] Obtain the slewing speed of the tower crane's boom;

[0103] If the rotational speed is less than the preset rotational speed, the motion trend is determined to be a stationary trend.

[0104] The slewing speed of the crane boom can be measured by sensors such as encoders or gyroscopes installed on the slewing mechanism, which can accurately reflect whether the tower crane is currently rotating, the direction of rotation, and the speed of rotation.

[0105] At a certain point, when the tower crane operator issues a deceleration or stop command, the tower crane will begin to gradually reduce its slewing speed. During this time, the hook stabilizer continuously monitors the actual slewing speed of the boom and compares it to a pre-set slewing speed threshold. The preset slewing speed can be a small positive value (e.g., 0.1 rad / s), and its setting can be based on extensive experimental and empirical data to characterize the critical point at which the tower crane is about to enter a stable stopping state.

[0106] Once the slewing speed of the crane boom drops below this threshold, it can be determined that the tower crane has entered a "stationary trend" state. "Stationary trend" does not mean that the tower crane has completely stopped, but rather that its slewing motion has nearly stopped, the speed change has become stable, the tower crane no longer performs obvious active slewing movements, and it is in the process of transitioning from motion to stillness.

[0107] This judgment result will serve as a key signal to trigger subsequent control strategies. For example, after determining that the tower crane is in a stationary trend, it may further detect whether there is residual swing in the hook, and generate a corresponding hook-following control signal according to the swing direction, driving the tower crane to make a slight rotation at low speed along the swing direction of the hook, thereby counteracting the inertial swing of the hook and achieving a stable hook effect.

[0108] In some embodiments, when the detected movement trend of the tower crane is a stationary trend, obtaining the movement state of the hook can be specifically implemented as follows:

[0109] Determine the hook swing angle when the tower crane's motion trend is stationary;

[0110] When the swing angle is greater than the preset swing angle, determine the swing direction of the hook.

[0111] When the tower crane decelerates and gradually comes to a stop after completing its slewing motion, the hook stabilizer controller first continuously monitors the slewing speed of the tower crane boom through sensors (such as encoders, gyroscopes, or vision systems) to determine whether it is in a "stationary trend".

[0112] Once it is confirmed that the tower crane is in a stationary state, the hook stabilizer controller can detect the hook status. For example, sensors (such as angle sensors, inertial measurement units, etc.) installed at the end of the tower crane jib or on the hook can be used to collect the offset angle of the hook relative to the vertical suspension position in real time, i.e., the "hook swing angle". This swing angle reflects the degree to which the hook is still oscillating due to inertia.

[0113] Next, the hook stabilization controller compares the measured hook swing angle with a preset "minimum effective swing angle threshold." This threshold is a small angle value (e.g., between 0.5° and 2°) set based on actual working conditions and experimental data, used to distinguish whether there is still residual swing in the hook that needs to be addressed. If the current swing angle is less than the threshold, it indicates that the hook is basically stable and no further control is needed; conversely, if the swing angle is greater than the threshold, it indicates that the hook still exhibits significant swing behavior and hook stabilization measures are required.

[0114] After confirming that the hook swing angle exceeds the threshold, the hook stabilizer further analyzes the hook's swing direction. The swing direction refers to the direction the hook is currently moving (e.g., left or right). This direction can be obtained through differential analysis of the time-series changes in the hook swing angle, or it can be determined by combining the angular velocity output information from the gyroscope. For example, if the swing angle changes from +1.2° to +1.5° in two consecutive samples, it indicates that the hook is continuing to swing in the positive direction (let's define it as right); while if the swing angle changes from +1.5° to +1.0°, it indicates that the hook has begun to swing back in the opposite direction.

[0115] Therefore, the hook stabilizer controller can accurately identify whether the hook still has significant sway when the tower crane is about to stop or has basically stopped, and further determine its current sway direction. This information is then used to generate a hook-following control signal, driving the tower crane to make low-speed fine adjustments along the hook's sway direction, thereby simulating manual "hook-following" operation, quickly eliminating residual sway, and improving positioning accuracy and operational safety.

[0116] Figure 2 This is a flowchart illustrating one embodiment of a control method for an unmanned tower crane provided in this application. This method can be applied to a hook stabilizer controller.

[0117] Figure 2 The control method for the unmanned tower crane shown may include the following steps:

[0118] 201: Obtain the first control signal generated by the control model. The first control signal is used to indicate the movement of the tower crane. The control model is used to generate the first control signal based on the collected environmental information.

[0119] 202: Detect the movement trend of the tower crane in response to the first control signal.

[0120] 203: When the motion trend is determined to be a variable speed motion trend, a pulse signal is superimposed on the first control signal to convert the linear first control signal into a nonlinear second control signal.

[0121] 204: Input the second control signal into the tower crane controller so that the tower crane controller can control the movement of the tower crane based on the second control signal;

[0122] 205: When the detected motion trend of the tower crane is stationary, obtain the motion state of the hook;

[0123] 206: Generate a hook-following control signal based on the motion state of the hook;

[0124] 207: Input the hook-following control signal into the tower crane controller so that the tower crane controller can perform hook-following control on the hook based on the hook-following control signal.

[0125] The detailed implementation methods and beneficial effects of each step in this embodiment have been described in detail in the foregoing embodiments, and will not be elaborated here.

[0126] Figure 3 A block diagram of one embodiment of a stabilizing hook controller provided in this application, as shown below. Figure 3 As shown, the stabilizing hook controller may include:

[0127] The first control signal receiving module 301 is used to acquire a first control signal for instructing the movement of the tower crane;

[0128] Motion trend detection module 302 is used to detect the motion trend of the tower crane in response to the first control signal;

[0129] The second control signal generation module 303 is used to superimpose a pulse signal on the first control signal when the motion trend is determined to be a variable speed motion trend, so as to convert the linear first control signal into a nonlinear second control signal.

[0130] The control module 304 is used to input the second control signal into the tower crane controller so that the tower crane controller can control the movement of the tower crane based on the second control signal;

[0131] The hook status detection module 305 is used to obtain the motion status of the hook when the motion trend of the tower crane is detected to be stationary.

[0132] The hook following signal generation module 306 is used to generate a hook following control signal based on the motion state of the hook.

[0133] The hook-following control module 307 is used to input the hook-following control signal into the tower crane controller, so that the tower crane controller can perform hook-following control on the hook based on the hook-following control signal.

[0134] In some embodiments, the second control signal generation module 303 is specifically used for:

[0135] Determine the control parameters based on the tower crane's natural frequency and damping ratio;

[0136] The control parameters and the first control signal are input into the shaper so that the shaper can generate a pulse signal based on the control parameters, superimpose the pulse signal on the first control signal, and output the second control signal.

[0137] In some embodiments, before inputting the second control signal to the tower crane controller, the device may further include:

[0138] The motion signal acquisition module is used to acquire the motion signals of the tower crane using sensors;

[0139] The feedback module is used to generate a third control signal based on the motion signal and the second control signal;

[0140] The control signal input module is used to input the third control signal as the second control signal into the tower crane controller.

[0141] In some embodiments, the motion state includes the swing direction and the swing speed.

[0142] In some embodiments, the hook signal generation module 306 is specifically used for:

[0143] The following hook control signal is generated based on the swing direction and the swing speed;

[0144] In some embodiments, the hook control module 307 is specifically used for:

[0145] The hook control signal is input to the tower crane controller so that the tower crane controller can control the tower crane to move along the swing direction at the first speed.

[0146] In some embodiments, the device may further include:

[0147] The slewing speed determination module is used to obtain the slewing speed of the tower crane's boom;

[0148] The detection module is used to determine the motion trend as a stationary trend when the rotation speed is less than the preset rotation speed.

[0149] In some embodiments, the hook control module 307 is specifically used for:

[0150] Determine the hook swing angle when the tower crane's motion trend is stationary;

[0151] When the swing angle is greater than the preset swing angle, determine the swing direction of the hook.

[0152] It should be noted that some processes described in the above embodiments and accompanying drawings include multiple operations appearing in a specific order. However, it should be clearly understood that these operations may not be executed in the order they appear in this document, or they may be executed in parallel. The operation numbers, such as 101, 102, etc., are merely used to distinguish different operations and do not represent any execution order. Furthermore, these processes may include more or fewer operations, and these operations may be executed sequentially or in parallel. It should also be noted that the descriptions such as "first" and "second" in this document are used to distinguish different messages, devices, modules, etc., and do not represent a sequential order, nor do they limit "first" and "second" to different types.

[0153] Figure 3 The aforementioned hook stabilizer controller can perform Figure 1 The implementation principle and technical effects of the tower crane control method described in the illustrated embodiment will not be repeated here. The specific operation methods of each module and unit in the hook stabilizer controller in the above embodiments have been described in detail in the embodiments related to this method, and will not be elaborated upon here.

[0154] Figure 4 This is a schematic diagram of the structure of one embodiment of a computing device provided in this application. Figure 4 As shown, in practice, the computing device may include a storage component 401 and a processing component 402.

[0155] Storage component 401 is used to store computer programs and can be configured to store various other data to support operation on a computing device. Examples of this data include instructions for any application or method used to operate on the computing device, data structures, contact data, phone book data, messages, pictures, videos, etc.

[0156] Processing component 402, coupled to storage component 401, is used to execute computer programs in storage component 401 for implementing, etc. Figure 1 The tower crane control method shown, or the implementation of such... Figure 2 The control method of the unmanned tower crane is shown.

[0157] The processing component described above includes one or more processors to execute computer instructions to complete all or part of the steps in the method described above. Alternatively, the processing component may be implemented as one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the method described above.

[0158] The aforementioned storage components can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random-Access Memory (SRAM), Electrically Erasable Programmable Read Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0159] The aforementioned communication component is configured to facilitate wired or wireless communication between the device housing the communication component and other devices. The device housing the communication component can access wireless networks based on communication standards, such as mobile communication networks, or combinations thereof. In one exemplary embodiment, the communication component receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel.

[0160] The aforementioned display components may include a screen, which may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors can sense not only the boundaries of touch or swipe actions but also the duration and pressure associated with the touch or swipe operation.

[0161] The aforementioned power supply components provide power to various components within the device in which they reside. These power supply components may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power to the device in which they reside.

[0162] The aforementioned audio component can be configured to output and / or input audio signals. For example, the audio component includes a microphone (MIC) configured to receive external audio signals when the device containing the audio component is in an operating mode, such as call mode, recording mode, or voice recognition mode. The received audio signals can be further stored in memory or transmitted via a communication component. In some embodiments, the audio component also includes a speaker for outputting audio signals.

[0163] Accordingly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, enables the processor to implement the steps in the above-described method embodiments. The computer-readable storage medium includes volatile or non-volatile components, or a combination thereof, and can be removable or non-removable. Examples of computer-readable storage media include, but are not limited to, phase-change random access memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random-access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), flash memory or other memory technologies, CD-ROM, Digital Video Disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium.

[0164] Accordingly, this application also provides a computer program product, which includes a computer program or instructions that, when executed by a processor, cause the processor to implement the steps in the above method embodiments. It should be understood that each step or combination of steps in the above method flow can be implemented by the computer program or instructions. Furthermore, these computer programs or instructions can be applied to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device, enabling the processor of the general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to function as an apparatus for implementing the corresponding functions in the above method embodiments.

[0165] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0166] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0167] Finally, it should be noted that the above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A tower crane control method, characterized in that, include: Acquire the first control signal used to instruct the tower crane's movement; The movement trend of the tower crane in response to the first control signal is detected; When the motion trend is determined to be a variable speed motion trend, a pulse signal is superimposed on the first control signal to convert the linear first control signal into a nonlinear second control signal. The second control signal is input to the tower crane controller so that the tower crane controller can control the movement of the tower crane based on the second control signal; Detect whether the movement trend of the tower crane is a stationary trend; When the movement trend of the tower crane is detected as stationary, the movement state of the hook is obtained; Generate a hook-following control signal based on the motion state of the hook; The hook-following control signal is input to the tower crane controller so that the tower crane controller can perform hook-following control on the hook based on the hook-following control signal.

2. The method according to claim 1, characterized in that, The superposition of the pulse signal on the first control signal includes: Based on the tower crane's natural frequency and damping ratio, determine the control parameters; The control parameters and the first control signal are input into the shaper so that the shaper generates the pulse signal based on the control parameters, superimposes the pulse signal on the first control signal, and outputs the second control signal.

3. The method according to claim 2, characterized in that, Before inputting the second control signal into the tower crane controller, the method further includes: The motion signals of the tower crane are acquired using sensors; A third control signal is generated based on the motion signal and the second control signal; The third control signal is input into the tower crane controller as the second control signal.

4. The method according to claim 1, characterized in that, The motion state includes the swing direction and swing speed; The generation of the hook control signal based on the motion state of the hook includes: The following hook control signal is generated based on the swing direction and the swing speed; The step of inputting the hook-following control signal into the tower crane controller, so that the tower crane controller can perform hook-following control on the hook based on the hook-following control signal, includes: The hook control signal is input to the tower crane controller so that the tower crane controller can control the tower crane to move along the swing direction at the first speed.

5. The method according to claim 4, characterized in that, The method further includes: Obtain the slewing speed of the tower crane's boom; If the rotational speed is less than the preset rotational speed, the motion trend is determined to be a stationary trend.

6. The method according to claim 4, characterized in that, When the movement trend of the tower crane is detected to be stationary, the process of obtaining the motion state of the hook includes: If the tower crane's motion trend is detected as a stationary trend, determine the swing angle of the hook; When the swing angle is greater than the preset swing angle, the swing direction of the hook is determined.

7. The method according to claim 1, characterized in that, The detection of the tower crane's motion trend in response to the first control signal includes: Before the tower crane actually moves, the movement trend of the tower crane in response to the first control signal is predicted.

8. The method according to claim 1, characterized in that, The variable speed motion trend includes either an acceleration motion trend or a deceleration motion trend.

9. The method according to claim 2, characterized in that, The determination of control parameters based on the tower crane's natural frequency and damping ratio includes: Obtain the structural parameters of the tower crane; The natural frequency and damping ratio of the tower crane are determined based on the structural parameters.

10. The method according to claim 3, characterized in that, The generation of the third control signal based on the motion signal and the second control signal includes: Based on the motion signal, the second control signal is adjusted to generate the third control signal.

11. The method according to claim 10, characterized in that, The adjustment of the second control signal includes: Adjust the amplitude and / or duration of the second control signal.

12. A control method for an unmanned tower crane, characterized in that, include: A first control signal generated by a control model is acquired. The first control signal is used to instruct the tower crane to move. The control model is used to generate the first control signal based on the collected environmental information. The movement trend of the tower crane in response to the first control signal is detected; When the motion trend is determined to be a variable speed motion trend, a pulse signal is superimposed on the first control signal to convert the linear first control signal into a nonlinear second control signal. The second control signal is input to the tower crane controller so that the tower crane controller can control the movement of the tower crane based on the second control signal; When the movement trend of the tower crane is detected as stationary, the movement state of the hook is obtained; Generate a hook-following control signal based on the motion state of the hook; The hook-following control signal is input to the tower crane controller so that the tower crane controller can perform hook-following control on the hook based on the hook-following control signal.

13. The method according to claim 12, characterized in that, The first control signal is generated through the following operation: Collect environmental information; The environmental information is input into the control model so that the control model can generate the first control signal based on the environmental information in order to achieve a preset motion target.

14. A hook stabilizer controller, characterized in that, include: The first control signal receiving module is used to acquire the first control signal used to indicate the movement of the tower crane; A motion trend detection module is used to detect the motion trend of the tower crane in response to the first control signal; The second control signal generation module is used to superimpose a pulse signal on the first control signal when the motion trend is determined to be a variable speed motion trend, so as to convert the linear first control signal into a nonlinear second control signal. The control module is used to input the second control signal into the tower crane controller, so that the tower crane controller can control the movement of the tower crane based on the second control signal; The hook status detection module is used to obtain the motion status of the hook when the tower crane's motion trend is detected as stationary. The hook following signal generation module is used to generate a hook following control signal based on the motion state of the hook; The hook-following control module is used to input the hook-following control signal into the tower crane controller, so that the tower crane controller can perform hook-following control on the hook based on the hook-following control signal.

15. A computing device, characterized in that, This includes processing components and storage components; The storage component stores a computer program; the computer program is invoked and executed by the processing component to implement the tower crane control method as described in any one of claims 1 to 11, or to implement the unmanned tower crane control method as described in any one of claims 12 to 13.

16. A computer program product, characterized in that, It includes a computer program or instructions that, when executed by a processing component, implement the tower crane control method as described in any one of claims 1 to 11, or implement the unmanned tower crane control method as described in any one of claims 12 to 13.

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