A multi-point leveling control method, device, electronic device and system for a lifting sling

Abstract

The present invention relates to the technical field of automatic leveling of lifting tools, and provides a multi-point leveling control method, device, electronic device and system for a lifting tool, including: controlling a plurality of hoists to contract corresponding suspension ropes to load a building module; when the building module is in the stage of not leaving the ground, based on the tension chasing method, gradually contracting the suspension ropes on the plurality of hoists to make the tension received by each hoist uniform and gradually increase; when the building module is in the semi-leaving-the-ground stage, based on the tension and relative position received by each hoist, adjust the length of the suspension rope of each hoist in real time to make the inclination angle of the building module lower than a preset inclination angle; when the building module is in the fully-leaving-the-ground stage, by adjusting the length of the suspension rope of each hoist in real time, control the inclination angle of the building module to be lower than the preset inclination angle, and monitor the inclination angle of the building module; after moving the building module to a preset position, control the lifting tool to lower the building module and keep the length of the suspension rope of the hoist unchanged until the tension is zero, so as to realize the automatic leveling of the building module.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic leveling of lifting tools, and particularly to a multi-point leveling control method, device, electronic device and system for a lifting tool. Background Art

[0002] Lifting tools are widely used in various industries, including the construction industry, mining industry, aviation industry, manufacturing industry, etc., and can be used for hoisting building materials, construction equipment, ores, aircraft components and fuselage structures, and for moving heavy machinery and equipment, raw materials and finished products in production lines.

[0003] For example, during the construction of modular buildings, the hoisting of building modules is an important link. However, traditional hoisting methods highly rely on on-site manual adjustment, which not only reduces the hoisting efficiency, but also increases the construction difficulty and safety risks. Especially when facing building modules that are huge in volume and weigh more than 30 tons, traditional hoisting methods often have difficulty ensuring the horizontal state of the modules during hoisting, and are prone to tilting, which may lead to damage to the building modules, as well as construction difficulties and safety hazards. Summary of the Invention

[0004] In order to solve the technical problems in the prior art that highly rely on on-site manual adjustment, which not only reduces the hoisting efficiency, but also increases the construction difficulty and safety risks. Especially when facing building modules that are huge in volume and weigh more than 30 tons, traditional hoisting methods often have difficulty ensuring the horizontal state of the modules during hoisting, and are prone to tilting, thus leading to construction difficulties and safety hazards, embodiments of the present invention provide a multi-point leveling control method, device, electronic device and system for a lifting tool. The technical solutions are as follows:

[0005] On the one hand, a multi-point leveling control method for a lifting tool is provided, which is applied to a lifting tool. The lifting tool includes: a lifting frame, a plurality of hoist components, and an inclination sensor. The plurality of hoist components are arranged at the bottom of the lifting frame. The hoist component includes a hoist, a lifting rope, and a displacement sensor and a force sensor arranged on the lifting rope. The lifting rope is connected to a prefabricated lifting point on a building module, and the inclination sensor is arranged on the building module;

[0006] The method includes:

[0007] Controlling the plurality of hoists to retract the corresponding lifting ropes to load the building module. When the building module is in the stage of not leaving the ground, based on the tension chasing method, gradually retract the lifting ropes on the plurality of hoists to make the tension received by each hoist uniform and gradually increase;

[0008] When the building module is in the semi - off - ground stage, based on the tensile forces on each of the hoists and the relative positions of the building module, the lengths of the suspension ropes of each of the hoists are adjusted in real time so that the inclination angle of the building module is lower than a preset inclination angle;

[0009] When the building module is in the fully - off - ground stage, by adjusting the lengths of the suspension ropes of each of the hoists in real time, the inclination angle of the building module is controlled to be lower than the preset inclination angle, and the inclination angle of the building module is monitored;

[0010] After moving the building module to a preset position, the spreader is controlled to lower the building module, and the lengths of the suspension ropes of the hoists are kept unchanged until the tensile forces are all zero.

[0011] Optionally, before controlling multiple hoists to contract their corresponding suspension ropes to load the building module, the method further includes:

[0012] Controlling the horizontal positions of each of the hoists so that each hoist and its corresponding hanging point are on the same vertical line.

[0013] Optionally, gradually contracting the suspension ropes on multiple hoists based on the tensile - force chasing method includes:

[0014] When F min <F max / 10, shorten the preset length of the suspension rope of the hoist with the smallest tensile force among multiple hoists each time;

[0015] When F max / 10 < F min <F max , based on the PID algorithm, control the length of the suspension rope shortened each time;

[0016] In the formula, F min is the smallest value of the tensile forces on multiple hoists; F max is the largest value of the tensile forces on multiple hoists.

[0017] Optionally, based on the tensile forces on each of the hoists and the relative positions of the building module, adjusting the lengths of the suspension ropes of each of the hoists in real time so that the inclination angle of the building module is lower than a preset inclination angle includes:

[0018] When the inclination angle of the building module exceeds the preset inclination angle, obtain the adjustment amount corresponding to each hoist;

[0019] Based on the adjustment amount corresponding to each hoist, control and adjust the lengths of the suspension ropes of multiple hoists so that the inclination angle is reduced to within the preset inclination angle.

[0020] Optionally, obtaining the adjustment amount corresponding to each hoist includes:

[0021] Estimate the relative horizontal coordinates of the center of gravity of the building module according to the pulling forces received by each hoist and the relative horizontal coordinates;

[0022] Based on the relative horizontal coordinates of the center of gravity of the building module and the bi-directional tilt angle, obtain the adjustment amount corresponding to each hoist.

[0023] Optionally, based on the pulling forces received by each hoist and the relative position of the building module, adjust the lengths of the suspension ropes of each hoist in real time so that the tilt angle of the building module is lower than a preset tilt angle. It further includes:

[0024] When the pulling forces received by multiple hoists are unbalanced, calculate the target pulling force value based on the genetic algorithm;

[0025] Based on the target pulling force value, control and adjust the lengths of the suspension ropes of multiple hoists based on the PID algorithm so that the pulling forces received by multiple hoists are balanced.

[0026] Optionally, the method further includes:

[0027] When the building module is in the fully lifted-off stage, if the tilt angle of the building module changes and exceeds the preset tilt angle, send an alarm signal;

[0028] When the tilt angle of the building module changes and is lower than the preset tilt angle, calculate the target pulling force value based on the genetic algorithm;

[0029] Based on the target pulling force value, control and adjust the lengths of the suspension ropes of multiple hoists based on the PID algorithm so that the pulling forces received by multiple hoists are balanced.

[0030] On the other hand, a multi-point leveling control device for a hoisting tackle is provided, which is applied to the hoisting tackle. The hoisting tackle includes: a hoisting frame, a plurality of hoist assemblies, and an inclination sensor. The plurality of hoist assemblies are arranged at the bottom of the hoisting frame. The hoist assembly includes a hoist, a suspension rope, and a displacement sensor and a force sensor arranged on the suspension rope. The suspension rope is connected to a prefabricated lifting point on the building module, and the inclination sensor is arranged on the building module;

[0031] The device includes:

[0032] A loading module, configured to control the plurality of hoists to contract the corresponding suspension ropes to load the building module. When the building module is in the non-lifted-off stage, gradually contract the suspension ropes on the plurality of hoists based on the pulling force chasing method so that the pulling forces received by each hoist are uniform and gradually increase;

[0033] An adjustment module, configured to, when the building module is in the semi-off-the-ground stage, adjust the lengths of the suspension ropes of each hoist in real time based on the tension received by each hoist and the relative position of the building module, so that the inclination angle of the building module is lower than a preset inclination angle;

[0034] A moving module, configured to, when the building module is in the fully-off-the-ground stage, control the inclination angle of the building module to be lower than the preset inclination angle by adjusting the lengths of the suspension ropes of each hoist in real time, and monitor the inclination angle of the building module;

[0035] An unloading module, configured to, after moving the building module to a preset position, control the spreader to lower the building module and keep the lengths of the suspension ropes of the hoists unchanged until the tensions are all zero.

[0036] On the other hand, an electronic device is provided, optionally including:

[0037] A processor;

[0038] A memory, on which computer-readable instructions are stored, and when the computer-readable instructions are executed by the processor, any of the above-mentioned multi-point leveling control methods for a lifting spreader is implemented.

[0039] On the other hand, a multi-point leveling control system for a lifting spreader is provided, optionally, the system includes: a spreader and an electronic device;

[0040] The spreader includes: a lifting frame, a plurality of hoist assemblies, and an inclination sensor. The plurality of hoist assemblies are arranged at the bottom of the lifting frame. The hoist assembly includes a hoist, a suspension rope, and a displacement sensor and a force sensor arranged on the suspension rope. The suspension rope is connected to a prefabricated lifting point on the building module. The inclination sensor is arranged on the building module, and the hoist, the displacement sensor, the force sensor, and the inclination sensor are all connected to the electronic device;

[0041] The electronic device is configured to execute any of the above-mentioned multi-point leveling control methods for a lifting spreader.

[0042] The beneficial effects brought by the technical solution provided in the embodiment of the present invention at least include:

[0043] The multi-point leveling control method for a lifting spreader provided in the embodiment of the present invention realizes multi-point real-time adjustment of the lengths of the hoist ropes during the preparation stage, non-off-the-ground stage, semi-off-the-ground stage, fully-off-the-ground stage, and unloading stage of the building module by detecting the lengths of the suspension ropes of each hoist, the tension received by each hoist, and the inclination angle of the building module in real time, realizes automatic leveling in the whole process of the building module, improves the lifting efficiency, quality and safety, and conforms to the development trend of new building industrialization. Description of the Drawings

[0044] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0045] Figure 1 It is one of the flowcharts of a multi-point leveling control method for a lifting sling provided by an embodiment of the present invention; [[ID=⑥]] [[ID=⑦]]

[0046] [[ID=⑧]] Figure 2 [[ID=⑨]]It is a schematic structural diagram of a multi-point sling provided by an embodiment of the present invention; [[ID=⑩]] [[ID=⑪]]

[0047] [[ID=⑫]] Figure 3 [[ID=⑬]]It is the second of the flowcharts of a multi-point leveling control method for a lifting sling provided by an embodiment of the present invention; [[ID=⑭]] [[ID=⑮]]

[0048] [[ID=⑯]] Figure 4 [[ID=⑰]]It is a schematic diagram of a tension chasing method provided by an embodiment of the present invention; [[ID=⑱]] [[ID=⑲]]

[0049] [[ID=⑳]] Figure 5 [[ID=㉑]]It is the third of the flowcharts of a multi-point leveling control method for a lifting sling provided by an embodiment of the present invention; [[ID=㉒]] [[ID=㉓]]

[0050] [[ID=㉔]] Figure 6 [[ID=㉕]]It is the fourth of the flowcharts of a multi-point leveling control method for a lifting sling provided by an embodiment of the present invention; [[ID=㉖]] [[ID=㉗]]

[0051] [[ID=㉘]] Figure 7 [[ID=㉙]]It is a schematic structural diagram of a force and inclination of a building module provided by an embodiment of the present invention; [[ID=㉚]] [[ID=㉛]]

[0052] [[ID=㉜]] Figure 8 [[ID=㉝]]It is the fifth of the flowcharts of a multi-point leveling control method for a lifting sling provided by an embodiment of the present invention; [[ID=㉞]] [[ID=㉟]]

[0053] [[ID=㊱]] Figure 9 [[ID=㊲]]It is the sixth of the flowcharts of a multi-point leveling control method for a lifting sling provided by an embodiment of the present invention; [[ID=㊳]] [[ID=㊴]]

[0054] [[ID=㊵]] Figure 10 [[ID=㊶]]It is the seventh of the flowcharts of a multi-point leveling control method for a lifting sling provided by an embodiment of the present invention; [[ID=㊷]] [[ID=㊸]]

[0055] [[ID=㊹]] Figure 11 [[ID=㊺]] [[ID=㊻]]It is the eighth of the flowcharts of a multi-point leveling control method for a lifting sling provided by an embodiment of the present invention; [[ID=㊼]]

[0056] [[ID=㊽]] Figure 12 [[ID=㊾]] [[ID=㊿]]It is a block diagram of a multi-point leveling control device for a lifting sling provided by an embodiment of the present invention;

[0057] Figure 13It is a schematic structural diagram of an electronic device provided by an embodiment of the present invention.

[0058] Reference numerals:

[0059] 1. Hoisting frame; 2. Hoist assembly; 21. Hoist; 22. Suspension rope. Detailed implementation manners

[0060] The technical solutions in the present invention will be described below with reference to the accompanying drawings.

[0061] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as an "example" in the present invention should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Exactly speaking, the use of the word "example" is intended to present concepts in a specific way. In addition, in the embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one of the two.

[0062] In the embodiments of the present invention, sometimes subscripts such as W1 may be miswritten as non-subscript forms such as W1. When the difference is not emphasized, the meanings they express are the same.

[0063] To make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will be described in detail with reference to the accompanying drawings and specific embodiments.

[0064] Building modularization and mechanized construction refer to a new construction method of prefabricating building modules in a factory and assembling them on site into a building. This field involves multiple links such as building design, manufacturing, transportation, installation and maintenance, aiming to improve building quality, shorten the construction period, reduce costs and reduce environmental pollution. It is widely used in various building types such as residential, commercial and public facilities, and is the development trend of the future building industry.

[0065] Figure 1 It is one of the flowcharts of a multi-point leveling control method for a lifting sling provided by an embodiment of the present invention. Please refer to Figure 1 An embodiment of the present invention provides a multi-point leveling control method for a lifting sling, which is applied to a sling. The sling includes: a hoisting frame, a plurality of hoist assemblies, and an inclination sensor. The plurality of hoist assemblies are arranged at the bottom of the hoisting frame. The hoist assembly includes a hoist, a suspension rope, a displacement sensor and a force sensor arranged on the suspension rope. The suspension rope is connected to the prefabricated lifting points on the building module, and the inclination sensor is arranged on the building module.

[0066] The processing flow of this method may include the following steps:

[0067] 110. Control the hoisting ropes corresponding to multiple gourds to load the building module. When the building module is in the stage of not leaving the ground, gradually contract the hoisting ropes on the multiple gourds based on the tension chasing method, so that the tension received by each gourd is uniform and gradually increases.

[0068] 120. When the building module is in the semi - leaving - the - ground stage, based on the tension and relative position received by each gourd, adjust the length of the hoisting rope of each gourd in real time, so that the inclination angle of the building module is lower than the preset inclination angle.

[0069] 130. When the building module is in the fully - leaving - the - ground stage, control the inclination angle of the building module to be lower than the preset inclination angle by adjusting the length of the hoisting rope of each gourd in real time, and monitor the inclination angle of the building module.

[0070] 140. After moving the building module to the preset position, control the spreader to lower the building module and keep the length of the hoisting rope of the gourd unchanged until the tension is zero.

[0071] In an embodiment provided by the present invention, before controlling the hoisting ropes corresponding to multiple gourds to load the building module, the method further includes:

[0072] Control the horizontal position of each gourd so that the gourd and the corresponding hanging point are on the same vertical line.

[0073] In an embodiment provided by the present invention, gradually contracting the hoisting ropes on multiple gourds based on the tension chasing method includes:

[0074] When F min <F max / 10, shorten the hoisting rope of the gourd with the smallest tension among the multiple gourds by a preset length each time;

[0075] When F max / 10 < F min <F max , based on the PID algorithm, control the length of the hoisting rope shortened each time;

[0076] In the formula, F min is the minimum value of the tension among the multiple gourds; F max is the maximum value of the tension among the multiple gourds.

[0077] In an embodiment provided by the present invention, based on the tension and relative position received by each gourd, adjusting the length of the hoisting rope of each gourd in real time so that the inclination angle of the building module is lower than the preset inclination angle includes:

[0078] When the inclination angle of the building module exceeds the preset inclination angle, obtain the adjustment amount corresponding to each gourd;

[0079] Based on the adjustment amount corresponding to each hoist, control the lengths of the suspension ropes of multiple hoists to reduce the inclination angle within a preset inclination angle.

[0080] In an embodiment provided by the present invention, obtaining the adjustment amount corresponding to each hoist includes:

[0081] Estimate the relative horizontal coordinates of the center of gravity of the building module according to the tensile forces borne by each hoist and the relative horizontal coordinates;

[0082] Based on the relative horizontal coordinates of the center of gravity of the building module and the bi-directional inclination angle, obtain the adjustment amount corresponding to each hoist.

[0083] In an embodiment provided by the present invention, based on the tensile forces and relative positions of each hoist, adjust the lengths of the suspension ropes of each hoist in real time to make the inclination angle of the building module lower than the preset inclination angle, and further includes:

[0084] When the tensile forces borne by multiple hoists are unbalanced, calculate the target tensile force value based on the genetic algorithm;

[0085] Based on the target tensile force value, control and adjust the lengths of the suspension ropes of multiple hoists based on the PID algorithm to make the tensile forces borne by multiple hoists balanced.

[0086] In an embodiment provided by the present invention, the method further includes:

[0087] When the building module is in the fully lifted-off stage, if the inclination angle of the building module changes and exceeds the preset inclination angle, an alarm signal is issued;

[0088] [[ID=)27]]When the inclination angle of the building module changes and is lower than the preset inclination angle, calculate the target tensile force value based on the genetic algorithm;

[0089] Based on the target tensile force value, control and adjust the lengths of the suspension ropes of multiple hoists based on the PID algorithm to make the tensile forces borne by multiple hoists balanced.

[0090] The multi-point leveling control method for a hoisting tackle provided by the embodiments of the present invention realizes multi-point real-time adjustment of the lengths of the hoist ropes during the preparation stage, non-lifted-off stage, semi-lifted-off stage, fully lifted-off stage, and unloading stage of the building module by detecting in real time the lengths of the suspension ropes of each hoist, the tensile forces borne by each hoist, and the inclination angle of the building module, thereby achieving automatic leveling during the whole process of the building module, improving the hoisting efficiency, quality, and safety, and conforming to the development trend of new building industrialization.

[0091] The embodiments of the present invention also provide a multi-point leveling control method for a hoisting tackle, which is applied to the hoisting tackle and realizes automatic leveling of the building module by controlling the hoisting process of the hoisting tackle, thereby improving the hoisting efficiency, quality, and safety.

[0092] Specifically, Figure 2The following is a schematic diagram of a multi-point lifting device provided by an embodiment of the present invention. Please refer to Figure 2 . The lifting device includes: a lifting frame 1, a plurality of hoist components 2, and an inclination sensor. The plurality of hoist components 2 are arranged at the bottom of the lifting frame 1. The hoist component 2 includes a hoist 21, a lifting rope 22, and a displacement sensor and a force sensor arranged on the lifting rope 22. The lifting rope 22 is connected to a prefabricated lifting point on the building module, and the inclination sensor is arranged on the building module.

[0093] It should be noted that the above-mentioned hoist 21, displacement sensor, force sensor, and inclination sensor can all be connected to an electronic device, and this method can be executed by this electronic device. Of course, it can also be executed by other devices, and this embodiment does not make any limitations in this regard.

[0094] Among them, the hoist 21 can be electrically driven to provide lifting power, and the lifting rope 22 is retracted and released through a motor or manual operation, so as to control the lifting and lowering of the building module. Specifically, a hook can be arranged under the lifting rope 22, and the lifting point prefabricated on the building module is hooked by the hook, so as to realize the connection between the lifting rope 22 and the building module. Of course, in a specific embodiment, it can also be connected through other connecting pieces, and this embodiment does not make any limitations in this regard. During the lifting process, multiple hoists 21 are usually used to work together to share the weight of the module. For example, the number of the hoists 21 is multiple and arranged in two rows. The lifting rope 22 is used to transmit the lifting force to ensure the stable lifting or lowering of the building module. The displacement sensor is used to monitor the elongation or shortening amount of the lifting rope 22 in real time, that is, the lifting or lowering distance of the building module. The force sensor is used to measure the force exerted by the hoist 21 on the lifting rope 22, that is, the actual lifting force. This helps to monitor the overload situation during the lifting process and prevent safety accidents caused by overweight. The inclination sensor is installed on the building module and is used to measure the inclination angle of the module during the lifting process to ensure that the module remains horizontal during the lifting process.

[0095] Through the above structure, during the process of the lifting device lifting the building module, the length of the lifting rope 22 on each hoist 21, the tension received by each hoist 21, and the inclination angle of the building module can be detected in real time. Among them, the number of the inclination sensors can be at least two to monitor the bidirectional inclination angle of the building module.

[0096] Specifically, Figure 3 The following is the second flowchart of a multi-point leveling control method for a lifting device provided by an embodiment of the present invention. Please refer to Figure 3 , and this method includes:

[0097] In an embodiment provided by the present invention:

[0098] 210. Control the horizontal position of each hoist to make the hoist and the corresponding lifting point on the same vertical line.

[0099] Specifically, in the sling, the hoist 21 is movably arranged on the support frame 1, so that the position of the hoist 21 can be adjusted in the horizontal direction, and the sling rope can be independently scaled.

[0100] During the preparation phase, the hoist is first docked and fastened to the prefabricated lifting points on the building module to ensure the stability of the lifting. The horizontal position of the hoist is then adjusted so that it is basically on the same vertical line as the lifting points to maintain the balance of the prefabricated building module during the lifting process.

[0101] 220. Control multiple hoists to retract the corresponding lifting ropes to load the building modules. When the building modules are not off the ground, based on the tension chasing method, gradually retract the lifting ropes on the multiple hoists so that the tension on each hoist is uniform and gradually increases.

[0102] In this step, the suspension ropes are gradually tightened by loading the building modules.

[0103] It should be noted that during the loading process of the building modules, changes in their inclination angles need to be monitored in real time. If the inclinometer value on the prefabricated building module remains unchanged, it indicates that its inclination angle has not changed. The process then further determines whether the sum of the pulling forces of the hoists continues to increase. If the sum of the pulling forces of the hoists no longer increases, it indicates that the building module is fully lifted off the ground, and step 240 is executed. If the sum of the pulling forces of the hoists continues to increase, it indicates that the building module is still lifted off the ground.

[0104] In the stage before leaving the ground, the tension chasing method is a control strategy that continuously monitors and adjusts the tension of each hoist to ensure that all hoists share the load as evenly as possible during the lifting process, and gradually increases the tension until the building module begins to leave the ground, so that the building module can be lifted smoothly and the impact and vibration caused by sudden lifting can be reduced. Figure 4 During the control process using the tension chasing method, if the inclination angle continues to change, it means that the building module has entered the semi-lift-off stage, and step 230 is executed.

[0105] For step 220, further, Figure 5 This is the third flow chart of a multi-point leveling control method for a lifting device provided by an embodiment of the present invention. Figure 5 In one embodiment of the present invention, based on the tension chasing method, gradually contracting the ropes on multiple hoists includes:

[0106] 221、When F min <F max / 10, each time shortening the preset length of the hoist rope of the hoist with the smallest pulling force among the multiple hoists.

[0107] Where, Fmin is the minimum value of the pulling forces among multiple hoists; F max is the maximum value of the pulling forces among multiple hoists.

[0108] Specifically, the preset length can be set as needed. For example, it can be 1 - 3 cm.

[0109] 222. When F max / 10 < F min < F max , based on the PID algorithm, control the length of the suspension rope shortened each time.

[0110] In the formula, F min is the minimum value of the pulling forces among multiple hoists; F max is the maximum value of the pulling forces among multiple hoists.

[0111] PID closed-loop control is a control strategy widely used in industrial automation and other fields. PID represents three control links: Proportional, Integral, and Derivative. They act together on the controlled object to achieve the desired control effect. First, set a desired target value, that is, the set value, for the controlled object. Obtain the actual value of the controlled object through measurement means such as sensors. Compare the actual value with the set value to get the deviation or error. Send the deviation into the PID controller, perform calculations according to the PID algorithm, and obtain the control output. Send the control output to the actuator, such as a motor, valve, etc., to adjust the controlled object so that its actual value approaches the set value.

[0112] Specifically, the steps for the PID algorithm in this embodiment can be:

[0113]

[0114] In the formula, u min is the length of the suspension rope of the hoist with the minimum pulling force, Δu min (k) is the k-th adjustment amount of the length of the suspension rope of the hoist with the minimum pulling force, F max,k is the pulling force of the hoist with the maximum pulling force at the k-th adjustment, F min,k is the pulling force of the hoist with the minimum pulling force at the k-th adjustment, F min,k-1 is the pulling force of the hoist with the minimum pulling force at the (k - 1)-th adjustment, F min,k-2 is the pulling force of the hoist with the minimum pulling force at the (k - 2)-th adjustment, K p is the proportionality coefficient, K i is the integral coefficient, K d is the derivative coefficient, which is determined according to the elastic modulus of the actual suspension rope.

[0115] Through step 220, the lengths of the suspension ropes of each hoist can be adjusted in real time to ensure that the forces on each hoist are balanced, so that the entire building module is slightly lifted until the tilt angle changes, entering the semi - off - ground stage of step 230, or directly entering the fully - off - ground stage of step 240 when the total pulling force remains unchanged.

[0116] 230. When the building module is in the semi - off - ground stage, based on the pulling forces and relative positions of each hoist, adjust the lengths of the suspension ropes of each hoist in real time so that the inclination angle of the building module is lower than the preset inclination angle.

[0117] It should be noted that if the value of the inclinometer on the pre - fabricated building module is monitored to be less than the preset inclination angle, it is further determined whether the sum of the pulling forces of each hoist continues to increase. If the sum of the pulling forces of each hoist no longer increases, it indicates that the building module is already in the fully - off - ground stage, and step 240 is executed. If the sum of the pulling forces of each hoist continues to increase, it means that the building module is still in the semi - off - ground stage, and steps 233 - 234 are executed.

[0118] When the building module is in the semi - off - ground stage and the value of the inclinometer starts to change, monitor the pulling force of the hoist and the position of the module through sensors, and adjust the length of the suspension rope in real time to compensate for the tilt caused by uneven weight distribution of the module or external factors such as wind.

[0119] Furthermore, Figure 6 is the fourth flowchart of the multi - point leveling control method for a lifting tackle provided by an embodiment of the present invention. Please refer to Figure 6 , in an embodiment provided by the present invention, step 230 includes:

[0120] 231. When the inclination angle of the building module exceeds the preset inclination angle, obtain the adjustment amount corresponding to each hoist.

[0121] In this step, the two - way inclination angle of the building module can be obtained. If one of the inclination angles exceeds the preset inclination angle, step 231 is executed.

[0122] Figure 7 is the structural schematic diagram of the force and inclination of a building module provided by an embodiment of the present invention. Please refer to Figure 7 . In this step, the adjustment amount can be obtained in various ways. Specifically, the system may need to collect information about the current position of the building module, weight distribution, current rope length of the hoist, etc. Using this data, calculate the rope length that each hoist needs to be adjusted through a preset algorithm or mathematical model.

[0123] Specifically, Figure 8 is the fifth flowchart of the multi - point leveling control method for a lifting tackle provided by an embodiment of the present invention. Please refer to Figure 8 . In step 231, obtaining the adjustment amount corresponding to each hoist includes:

[0124] 2311. Estimate the relative horizontal coordinates of the center of gravity of the building module based on the tension forces on each gourd and the relative horizontal coordinates.

[0125] In this step, through mechanical principles (such as the principle of moment balance), the system can establish one or more equations to estimate the relative horizontal coordinates of the center of gravity of the building module. This coordinate is usually represented as two-dimensional coordinates (x, y) relative to the lifting point or a certain fixed reference point. In this embodiment, the relative horizontal coordinates generally refer to the projection position of the center of gravity of the building module or a specific point on a certain horizontal plane, which is relative to a certain fixed reference point or coordinate system.

[0126] Specifically, the estimation process can be as follows:

[0127]

[0128] In the formula, (x g , y g ) is the estimated value of the relative horizontal coordinates of the center of gravity of the building module, which approaches the true value as the building module is gradually lifted off the ground. F i is the tension force of the i-th gourd, and (x i , y i ) is the relative horizontal coordinates of the i-th gourd.

[0129] By estimating the relative horizontal coordinates of the center of gravity of the building module, it is beneficial to obtain the adjustment amount corresponding to each gourd subsequently.

[0130] 2312. Obtain the adjustment amount corresponding to each gourd based on the relative horizontal coordinates of the center of gravity of the building module and the bi-directional tilt angle.

[0131] In this step, first, it is necessary to determine the target attitude that the module should reach, that is, the preset inclination angle. Then, perform a mechanical analysis. By analyzing how factors such as the weight of the building module, the position of the center of gravity, the current inclination angle, and the arrangement position of the gourds affect the attitude of the module, calculate the force or the change in rope length that needs to be applied to each gourd to achieve the target attitude. Finally, calculate the adjustment amount corresponding to each gourd according to the results of the mechanical analysis. These adjustment amounts may be specific values for increasing or decreasing the rope length, or may be instructions for controlling the movement of the gourd, such as rising, falling, moving left, moving right, etc. This embodiment does not make any limitations in this regard.

[0132] Specifically, when one of the bi-directional tilt angles on the building module reaches the preset inclination angle, roughly adjust the length of the gourd rope, with each adjustment not exceeding 1 degree, so that it returns to the preset inclination angle. This preset inclination angle can be set as needed. For example, it can be 8 - 10 degrees. At this time, the following formula can be used to calculate the adjustment amount:

[0133]

[0134] In the formula, u i is the suspension rope length of the i-th gourd, and Δu i is the adjustment amount of the suspension rope length of the i-th gourd, θ x and θ y are the bidirectional tilt angles, Δθ x and Δθ y are the adjustment amounts of the bidirectional tilt angles, (x g , y g ) is the estimated value of the relative horizontal coordinates of the center of gravity of the building module, and (x i , y i ) are the relative horizontal coordinates of the i-th gourd.

[0135] 232. Based on the adjustment amount corresponding to each gourd, control the adjustment of the suspension rope lengths of multiple gourds to reduce the inclination angle to within a preset inclination angle.

[0136] According to the adjustment amount calculated in step 231, send corresponding control signals to each gourd to instruct it to increase or decrease the rope length. After receiving the control signal, the gourd starts to adjust its rope length. These adjustments may be synchronous or carried out according to a specific order or strategy to ensure that the module returns smoothly and safely to the predetermined inclination angle range. During the adjustment process, the system may continuously monitor the inclination angle of the module to verify the effectiveness of the adjustment and make fine adjustments if necessary. Once the inclination angle of the module is reduced to within the preset inclination angle, the system may stop the adjustment and wait for the next operation or maintain the current state.

[0137] Figure 9 This is the sixth flowchart of a multi-point leveling control method for a hoisting tackle provided by an embodiment of the present invention. Please refer to Figure 9 . In an embodiment provided by the present invention, this step 230 further includes:

[0138] 233. When the tensions received by multiple gourds are unbalanced, calculate the tension target value based on the genetic algorithm.

[0139] In this step, the suspension rope length can be controlled by the PID algorithm.

[0140] Let the tension target value after balancing of the i-th gourd be F i,target , and let F max,target = max(F i,target ), then the optimization objective of the genetic algorithm is to minimize F max,target . During the optimization process, the following force balance constraints need to be satisfied:

[0141]

[0142] In the genetic algorithm, based on the Gray code for F i,targetEncode with max(F i ) - max(F i,target ) as the objective function, use the following formula as the penalty function of the population, with the optimization direction being to maximize the objective function. After multiple iterations, the local optimal solution can be calculated:

[0143]

[0144] Based on the calculated F i,target , calculate the fine-tuning amount of the calabash rope length according to the following formula:

[0145]

[0146] In the formula, u i is the suspension rope length of the i-th calabash, Δu i (k) is the k-th adjustment amount of the suspension rope length of the i-th calabash, F i,k is the tension of the i-th calabash during the k-th adjustment, F i,k-1 is the tension of the i-th calabash during the (k - 1)-th adjustment, F i,k-2 is the tension of the i-th calabash during the (k - 2)-th adjustment.

[0147] 234. Based on the tension target value, control and adjust the suspension rope lengths of multiple calabashes based on the PID algorithm to make the tensions received by multiple calabashes balanced.

[0148] Through step 230, the suspension rope lengths of each calabash can be adjusted in real time to ensure that the forces on each calabash are balanced, so that the building module is slightly lifted as a whole until the tilt angle changes and the total tension remains unchanged and directly enters the fully off - ground stage of step 250.

[0149] 240. When the building module is in the fully off - ground stage, control the tilt angle of the building module to be lower than the preset tilt angle by adjusting the suspension rope lengths of each calabash in real time, and monitor the tilt angle of the building module.

[0150] Specifically, the fully off - ground stage means that the building module has completely left the ground and entered the air - moving stage. By continuing to adopt the real - time adjustment strategy, ensure that the module remains stable during movement and avoid excessive tilting.

[0151] By monitoring the tilt angle of the building module, corresponding processing can be carried out according to the change of the tilt angle. If the tilt angle remains unchanged, no adjustment is required; if the tilt angle changes, execute step 241 or execute steps 242 - 243 according to whether the tilt angle exceeds the preset tilt angle.

[0152] In an embodiment provided by the present invention, the method further includes:

[0153] 241. When the building module is in the fully lifted-off stage, if the inclination angle of the building module changes and exceeds the preset inclination angle, an alarm signal is issued.

[0154] By continuously monitoring the inclination angle of the building module, it is possible to identify the changes in the inclination angle caused by the movement of the building module or the swing caused by the wind. When the inclination angle exceeds the preset inclination angle, the system will issue an alarm for subsequent processing. Among them, the preset inclination angle can be set as needed. For example, it can be 8-10 degrees, and this embodiment does not limit it.

[0155] When the inclination angle is less than the preset inclination angle, F can be calculated according to the semi-lifted-off stage method i,target , and the length of the hoist rope is finely adjusted to make the hoist force balanced. Specifically, Figure 10 This is the seventh flowchart of the multi-point leveling control method for a lifting tackle provided by an embodiment of the present invention. Please refer to Figure 10 . This step 240 may specifically include the following steps:

[0156] 242. When the inclination angle of the building module changes and is lower than the preset inclination angle, based on the genetic algorithm, calculate the target value of the pulling force.

[0157] In this step, the length of the lifting rope can be controlled by the PID algorithm.

[0158] Let the target value of the pulling force after balancing of the i-th hoist be F i,target , and let F max,target =max(F i,target ), then the optimization goal of the genetic algorithm is to minimize F max,target . During the optimization process, the following force balance constraints need to be satisfied:

[0159]

[0160] In the genetic algorithm, F i,target is encoded based on the Gray code, with max(F i ) - max(F i,target ) as the objective function, and the following formula as the penalty function of the population. The optimization direction is to maximize the objective function. After iterating multiple times, the local optimal solution can be calculated:

[0161]

[0162] Based on the calculated F i,target , calculate the fine-tuning amount of the hoist rope length according to the following formula:

[0163]

[0164] In the formula, u i is the length of the hoist rope of the i-th hoist, and Δu i(k) is the k-th adjustment amount of the suspension rope length of the i-th gourd, F i,k is the tension of the i-th gourd during the k-th adjustment, F i,k-1 is the tension of the i-th gourd during the (k - 1)-th adjustment, F i,k-2 is the tension of the i-th gourd during the (k - 2)-th adjustment.

[0165] 243. Based on the tension target value, control and adjust the suspension rope lengths of multiple gourds based on the PID algorithm to make the tensions received by the multiple gourds balanced.

[0166] Through step 243, the suspension rope lengths of each gourd can be adjusted in real time, ensuring that the forces on each gourd are balanced, so as to facilitate the subsequent movement of the building module.

[0167] 250. After moving the building module to the preset position, control the spreader to lower the building module and keep the suspension rope lengths of the gourds unchanged until the tensions are all zero.

[0168] In the unloading stage, keep the suspension rope lengths of the gourds unchanged and lower the building module until the tensions are all zero, ensuring the safe and stable unloading of the building module.

[0169] Specifically, after accurately moving the building module to the designated position, start to slowly lower the module. During the lowering process, keep the suspension rope lengths relatively stable until the building module touches the ground smoothly, and the tensions of all gourds gradually decrease to zero.

[0170] Figure 11 It is the eighth flowchart of a multi-point leveling control method for a lifting spreader provided by an embodiment of the present invention. Please refer to Figure 11 . The multi-point leveling control method for a lifting spreader provided by an embodiment of the present invention realizes multi-point real-time adjustment of the lengths of the gourd ropes during the preparation stage, non-lifting-off stage, semi-lifting-off stage, full-lifting-off stage, and unloading stage of the building module by detecting the lengths of the suspension ropes of each gourd, the tensions received by each gourd, and the inclination angle of the building module in real time, achieving automatic leveling of the building module and balanced forces on the gourds throughout the whole process, improving the hoisting efficiency, quality, and safety, and conforming to the development trend of new building industrialization.

[0171] Furthermore, the automatic leveling technology in this embodiment uses sensors and a control system to monitor the attitude of the module in real time and automatically adjust the lengths of the suspension ropes to ensure that the module remains horizontal during hoisting, avoiding construction difficulties and safety hazards caused by tilting.

[0172] During hoisting, multiple gourds are usually used to work together to share the weight of the module. In this method, by accurately controlling the forces on each gourd, the load balance of each gourd is ensured, avoiding equipment damage or stress concentration in the module structure caused by uneven forces.

[0173] In addition, due to the complex construction conditions, there are many uncertain factors, such as the prefabrication precision of the module itself, the on-site wind speed, the ground flatness, etc., which may all affect the hoisting precision. By this method, fuzzy error control is realized. Specifically, fuzzy error control is a control method based on fuzzy logic, which can handle these uncertain factors, adjust the hoisting parameters in real time through fuzzy error control, reduce the influence of external factors on the hoisting precision, and improve the accuracy and reliability of hoisting.

[0174] The present invention also provides a multi-point leveling control device for a hoisting tackle. Figure 12 It is a block diagram of a multi-point leveling control device for a hoisting tackle provided by an embodiment of the present invention. Please refer to Figure 12 . Applied to a hoisting tackle, the hoisting tackle includes: a hoisting frame, a plurality of hoist components, and an inclination sensor. The plurality of hoist components are arranged at the bottom of the hoisting frame. The hoist component includes a hoist, a hoisting rope, and a displacement sensor and a force sensor arranged on the hoisting rope. The hoisting rope is connected to a prefabricated lifting point on the building module, and the inclination sensor is arranged on the building module;

[0175] The device includes: a loading module 1201, an adjustment module 1202, a moving module 1203, and an unloading module 1204.

[0176] Among them, the loading module 1201 is used to control the hoisting ropes corresponding to the contraction of a plurality of hoists to load the building module. When the building module is in the stage of not leaving the ground, based on the tension chasing method, the hoisting ropes on the plurality of hoists are gradually contracted, so that the tension received by each hoist is uniform and gradually increases;

[0177] The adjustment module 1202 is used to, when the building module is in the semi-lifting stage, based on the tension and relative position received by each hoist, adjust the length of the hoisting rope of each hoist in real time, so that the inclination angle of the building module is lower than a preset inclination angle;

[0178] The moving module 1203 is used to, when the building module is in the full-lifting stage, control the inclination angle of the building module to be lower than the preset inclination angle by adjusting the length of the hoisting rope of each hoist in real time, and monitor the inclination angle of the building module;

[0179] The unloading module 1204 is used to, after moving the building module to a preset position, control the hoisting tackle to lower the building module and keep the length of the hoisting rope of the hoist unchanged until the tension is zero.

[0180] The multi-point leveling control device for a hoisting tackle provided by the embodiment of the present invention realizes multi-point real-time adjustment of the hoist rope lengths during the preparation stage, the stage of not leaving the ground, the semi-lifting stage, the full-lifting stage, and the unloading stage of the building module by detecting the length of the hoisting rope of each hoist, the tension received by each hoist, and the inclination angle of the building module in real time, realizes automatic leveling in the whole process of the building module, improves the hoisting efficiency, quality and safety, and conforms to the development trend of new building industrialization.

[0181] Figure 13 is a schematic structural diagram of an electronic device provided by an embodiment of the present invention. As shown in Figure 13 the figure, the electronic device may include the multi-point leveling control device for a lifting sling shown above. The electronic device includes: Figure 12

[0182] a processor;

[0183] a memory, on which computer-readable instructions are stored. When the computer-readable instructions are executed by the processor, the multi-point leveling control method for a lifting sling provided by any of the above embodiments is implemented.

[0184] Optionally, the electronic device 1310 may include a first processor 1301.

[0185] Optionally, the electronic device 1310 may further include a memory 1302 and a transceiver 1303.

[0186] Among them, the first processor 1301, the memory 1302, and the transceiver 1303 may be connected through a communication bus, for example.

[0187] Figure 13 Next, each component of the electronic device 1310 will be specifically introduced in combination with the figure:

[0188] Among them, the first processor 1301 is the control center of the electronic device 1310, and may be a single processor or a collective term for multiple processing elements. For example, the first processor 1301 is one or more central processing units (CPUs), or may be a specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention, such as: one or more digital signal processors (DSPs), or one or more field programmable gate arrays (FPGAs).

[0189] Optionally, the first processor 1301 may execute various functions of the electronic device 1310 by running or executing software programs stored in the memory 1302 and calling data stored in the memory 1302.

[0190] Figure 13 In a specific implementation, as an embodiment, the first processor 1301 may include one or more CPUs, such as the CPU0 and CPU1 shown in

[0191] In a specific implementation, as an example, the electronic device 1310 may also include multiple processors, such as Figure 13 the first processor 1301 and the second processor 1304 shown in. Each of these processors may be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). The processor here may refer to one or more devices, circuits, and / or processing cores for processing data (such as computer program instructions).

[0192] Among them, the memory 1302 is used to store the software program for implementing the solution of the present invention and is controlled by the first processor 1301 for execution. The specific implementation manner may refer to the above method embodiment and will not be elaborated here.

[0193] Optionally, the memory 1302 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM), or other optical disc storage (including compressed optical discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), a magnetic storage medium or other magnetic storage devices, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 1302 may be integrated with the first processor 1301 or may exist independently and be coupled to the first processor 1301 through the interface circuit of the electronic device 1310 ( Figure 13 not shown in). This embodiment of the present invention does not make specific limitations on this.

[0194] The transceiver 1303 is used to communicate with a network device or with a terminal device.

[0195] Optionally, the transceiver 1303 may include a receiver and a transmitter ( Figure 13 not separately shown in). Among them, the receiver is used to implement the receiving function, and the transmitter is used to implement the sending function.

[0196] Optionally, the transceiver 1303 may be integrated with the first processor 1301 or may exist independently and be coupled to the first processor 1301 through the interface circuit of the electronic device 1310 ( Figure 13is not shown) and is coupled to the first processor 1301. The embodiments of the present invention do not make specific limitations on this.

[0197] It should be noted that Figure 13 the structure of the electronic device 1310 shown in does not constitute a limitation on the router. The actual knowledge structure recognition device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0198] In addition, the technical effects of the electronic device 1310 can refer to the technical effects of the multi-point leveling control method of the lifting spreader described in the above method embodiments, and will not be elaborated here.

[0199] It should be understood that the first processor 1301 in the embodiments of the present invention may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), off-the-shelf programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0200] It should also be understood that the memory in the embodiments of the present invention may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0201] The above embodiments can be implemented in whole or in part by software, hardware (such as circuits), firmware, or any combination thereof. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the processes or functions described in the embodiments of the present invention are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wired (such as infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that contains one or more collections of available media. The available medium can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state drive.

[0202] The present invention also provides a multi-point leveling control system for a lifting sling, which system includes: a sling and an electronic device;

[0203] The sling includes: a lifting frame, a plurality of hoist assemblies, and inclination sensors. The plurality of hoist assemblies are arranged at the bottom of the lifting frame. Each hoist assembly includes a hoist, a lifting rope, and a displacement sensor and a force sensor arranged on the lifting rope. The lifting rope is connected to a prefabricated lifting point on the building module. The inclination sensors are arranged on the building module, and the hoist, the displacement sensor, the force sensor, and the inclination sensors are all connected to the electronic device;

[0204] The electronic device is configured to execute the multi-point leveling control method for a lifting sling provided in any of the above embodiments.

[0205] The multi-point leveling control system for a lifting sling provided by the embodiments of the present invention can, by detecting in real time the lengths of the lifting ropes of each hoist, the pulling forces received by each hoist, and the inclination angle of the building module, perform multi-point real-time adjustment of the lengths of the hoist ropes of the building module in the preparation stage, the stage of not leaving the ground, the semi-off-the-ground stage, the fully-off-the-ground stage, and the unloading stage, so as to achieve automatic leveling of the building module throughout the whole process, improve the lifting efficiency, quality, and safety, and conform to the development trend of new building industrialization.

[0206] It should be understood that the term "and / or" in this text is merely a description of the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. Here, A and B can be singular or plural. Additionally, the character " / " in this text generally represents an "or" relationship between the associated objects before and after, but it may also represent an "and / or" relationship. The specific meaning can be understood by referring to the context before and after.

[0207] In the present invention, "at least one" means one or more, and "a plurality" means two or more. "At least one of the following" or its similar expressions refer to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, and c can be single or multiple.

[0208] It should be understood that in various embodiments of the present invention, the magnitude of the sequence numbers of the above processes does not imply the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0209] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A multi-point leveling control method for a lifting sling, characterized in that, Applied to a lifting tool, the lifting tool includes: a lifting frame, a plurality of hoist components, and an inclination sensor. The plurality of hoist components are arranged at the bottom of the lifting frame. The hoist component includes a hoist, a lifting rope, and a displacement sensor and a force sensor arranged on the lifting rope. The lifting rope is connected to a prefabricated lifting point on the building module, and the inclination sensor is arranged on the building module; The method includes: Controlling the plurality of hoists to contract the corresponding lifting ropes to load the building module. When the building module is in the stage of not leaving the ground, based on the tension chasing method, gradually contract the lifting ropes on the plurality of hoists to make the tension received by each hoist uniform and gradually increase; Among them, for the pulling force pursuit method, gradually contracting the suspension ropes on multiple gourds includes: when F min <F max / 10, shorten the suspension rope of the gourd with the smallest pulling force among multiple gourds by a preset length each time; when F max / 10 < F min <F max <, control the length of the suspension rope shortened each time based on the PID algorithm; where F min is the smallest value of the pulling forces of multiple gourds; F max is the largest value of the pulling forces of multiple gourds; During the process of controlling by the tension chasing method, if the inclination angle continuously changes, it means that the building module enters the semi-off-the-ground stage. When the building module is in the semi-off-the-ground stage, based on the tension received by each hoist and the relative position of the building module, adjust the length of the lifting rope of each hoist in real time to make the inclination angle of the building module lower than the preset inclination angle; If it is monitored that the value of the inclinometer on the prefabricated building module remains unchanged, judge whether the sum of the tensions of each hoist continues to increase. If the sum of the tensions of each hoist no longer increases, it indicates that the building module is in the fully-off-the-ground stage. When the building module is in the fully-off-the-ground stage, control the inclination angle of the building module to be lower than the preset inclination angle by adjusting the length of the lifting rope of each hoist in real time, and monitor the inclination angle of the building module; After moving the building module to a preset position, control the lifting tool to lower the building module and keep the length of the lifting rope of the hoist unchanged until the tension is zero.

2. The multi-point leveling control method of the lifting sling according to claim 1, characterized in that Before controlling the plurality of hoists to contract the corresponding lifting ropes to load the building module, the method further includes: Controlling the horizontal position of each hoist so that the hoist and the corresponding lifting point are on the same vertical line.

3. The multi-point leveling control method of the lifting sling according to claim 1, characterized in that Based on the tension received by each hoist and the relative position of the building module, adjusting the length of the lifting rope of each hoist in real time to make the inclination angle of the building module lower than the preset inclination angle, including: When the inclination angle of the building module exceeds the preset inclination angle, obtain the adjustment amount corresponding to each hoist; Based on the adjustment amount corresponding to each hoist, control and adjust the length of the lifting ropes of the plurality of hoists to make the inclination angle decrease within the preset inclination angle.

4. The multi-point leveling control method of the lifting sling according to claim 3, characterized in that, The obtaining the adjustment amount corresponding to each hoist includes: Estimate the relative horizontal coordinates of the center of gravity of the building module according to the tension received by each hoist and the relative horizontal coordinates; Based on the relative horizontal coordinates of the center of gravity of the building module and the bi-directional inclination angle, obtain the adjustment amount corresponding to each hoist.

5. The multi-point leveling control method of the lifting sling according to claim 3, wherein, Based on the tension received by each hoist and the relative position of the building module, adjusting the length of the lifting rope of each hoist in real time to make the inclination angle of the building module lower than the preset inclination angle, further includes: When the tensions received by the plurality of hoists are not balanced, calculate the tension target value based on the genetic algorithm; Based on the tension target value, control and adjust the rope lengths of the plurality of hoists based on the PID algorithm to make the tensions received by the plurality of hoists balanced.

6. The multi-point leveling control method for a hoisting tackle according to claim 1, wherein The method further includes: When the building module is in the fully off - ground stage, if the inclination angle of the building module changes and exceeds the preset inclination angle, an alarm signal is sent. When the inclination angle of the building module changes and is lower than the preset inclination angle, based on the genetic algorithm, the target value of the pulling force is calculated. Based on the target value of the pulling force, the lengths of the lifting ropes of multiple hoists are controlled and adjusted based on the PID algorithm to make the pulling forces received by multiple hoists balanced.

7. A multi-point leveling control device for a lifting sling, characterized in that, Applied to a lifting device, the lifting device includes: a lifting frame, multiple hoist assemblies, and an inclination sensor. Multiple hoist assemblies are arranged at the bottom of the lifting frame. Each hoist assembly includes a hoist, a lifting rope, a displacement sensor and a force sensor arranged on the lifting rope. The lifting rope is connected to a pre - fabricated lifting point on the building module, and the inclination sensor is arranged on the building module. The device includes: A loading module, configured to control multiple hoists to contract the corresponding lifting ropes to load the building module. When the building module is in the non - off - ground stage, based on the pulling - force chasing method, the lifting ropes of multiple hoists are gradually contracted to make the pulling forces received by each hoist uniform and gradually increase. Among them, gradually contracting the lifting ropes of multiple hoists based on the pulling - force chasing method includes: when Fmin < Fmax / 10, the lifting rope of the hoist with the minimum pulling force among multiple hoists is shortened by a preset length each time; when Fmax / 10 < Fmin < Fmax, based on the PID algorithm, the length of the lifting rope shortened each time is controlled. Here, Fmin is the minimum value of the pulling forces among multiple hoists; Fmax is the maximum value of the pulling forces among multiple hoists. An adjustment module, during the process of controlling by the pulling - force chasing method, if the inclination angle continuously changes, it indicates that the building module enters the semi - off - ground stage. It is configured to, when the building module is in the semi - off - ground stage, based on the pulling forces received by each hoist and the relative position of the building module, adjust the lengths of the lifting ropes of each hoist in real time to make the inclination angle of the building module lower than the preset inclination angle. A moving module, if it is monitored that the value of the inclinometer on the pre - fabricated building module remains unchanged, it judges whether the sum of the pulling forces of each hoist continues to increase. If the sum of the pulling forces of each hoist no longer increases, it indicates that the building module is in the fully off - ground stage. It is configured to, when the building module is in the fully off - ground stage, control the inclination angle of the building module to be lower than the preset inclination angle by adjusting the lengths of the lifting ropes of each hoist in real time, and monitor the inclination angle of the building module. An unloading module, configured to, after moving the building module to a preset position, control the lifting device to lower the building module and keep the lengths of the lifting ropes of the hoists unchanged until the pulling forces are all zero.

8. An electronic device, characterized in that, Includes: A processor; A memory, on which computer - readable instructions are stored. When the computer - readable instructions are executed by the processor, the multi - point leveling control method of the lifting device as described in any one of claims 1 to 6 is implemented.

9. A multi-point leveling control system for a lifting sling, characterized in that, The system includes: a lifting device and an electronic device; The sling includes: a lifting frame, a plurality of hoist components, and an inclination sensor. The plurality of hoist components are arranged at the bottom of the lifting frame. The hoist component includes a hoist, a lifting rope, and a displacement sensor and a force sensor arranged on the lifting rope. The lifting rope is connected to a prefabricated lifting point on the building module. The inclination sensor is arranged on the building module, and the hoist, the displacement sensor, the force sensor, and the inclination sensor are all connected to the electronic device; The electronic device is used to execute the multi-point leveling control method for the lifting sling according to any one of claims 1 to 6.

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