An intelligent anti-sway hoisting machinery control system

Abstract

The present invention discloses an intelligent anti-sway hoisting machinery control system, which relates to the technical field of cranes, and includes a data processing unit, an algorithm control unit, a safety interaction platform, a debugging and optimization unit, and a segmentation control unit. In the present invention, the anti-sway control model in the algorithm control unit is used for calculation to obtain accurate parameters of the crane and the load, and then the current operating state of the crane is segmented according to the segmentation control unit, and the crane is adjusted and controlled differently according to the segmentation results, so as to shorten the reaction time of the crane, thereby improving the response speed of the crane during anti-sway. The anti-sway effect of the crane can be further improved by the high precision of the segmentation adjustment, and the use of the crane and the system is monitored and updated in real time through the safety monitoring module, and the real-time data of the crane operation is obtained. When an abnormality occurs, the use of the crane and the system is interrupted in time to ensure the safe use of the crane.

Description

Technical Field

[0001] The invention relates to the technical field of cranes, and in particular to an intelligent anti-sway crane control system. Background Art

[0002] The transmission system of the lifting machinery includes motors, reducers, wire rope drums and other components. If there is a fault or wear in the transmission system, it will cause the lifting and operation process to be unstable, thus causing swaying. If the frequency of swaying is too high, it will interfere with the stability of the crane during use, thus affecting the normal use of the crane.

[0003] To address the swaying phenomenon of cranes, methods generally adopted to reduce the swaying phenomenon are to increase the stability of the cranes and improve mechanical structures such as slings. However, the response speed of mechanical control is slow, the adjustment accuracy is not high, and it is difficult to automatically adjust the control parameters to adapt to different loads and environments, thereby reducing the anti-swaying effect and affecting the stable use of the crane. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent anti-sway lifting machinery control system to solve the problems proposed in the above background technology, such as slow response speed, low adjustment accuracy, and difficulty in automatically adjusting control parameters to adapt to different loads and environments, thereby reducing the anti-sway effect and affecting the stable use of the crane.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solutions: an intelligent anti-sway hoisting machinery control system, comprising a data processing unit, an algorithm control unit, a safety interaction platform, a debugging and optimization unit and a segment control unit;

[0006] The data processing unit is used to obtain data of the lifting machinery, and process and transmit the collected data;

[0007] The algorithm control unit is used to construct an anti-sway control model through a fuzzy control algorithm, calculate corresponding control signals according to the swing of the load and the motion state of the crane, and control the motor and brake of the crane;

[0008] The safety interaction platform is used to obtain the current state information, sensor data and control parameters of the crane, and identify the control instructions of the operator and the adjustment of the control parameters;

[0009] The debugging and optimization unit is used to calibrate and adjust parameters of system-related equipment, complete equipment debugging, and optimize and improve the system through the obtained test results;

[0010] The segment control unit is used to divide the use phases of the crane according to the current operation state of the crane, and drive different equipment to operate according to different phases.

[0011] Preferably, the data processing unit includes a data acquisition module and a calibration analysis module, wherein the data acquisition module is used to collect data of multiple sensors used in combination with the crane in real time, and to perform filtering and calibration;

[0012] The calibration analysis module is used to analyze the angle, acceleration and position data and calculate the swing amplitude and frequency of the load.

[0013] Preferably, the safety interaction platform includes a human-computer interaction module and a safety monitoring module, wherein the human-computer interaction module is used to obtain and identify control instructions and adjustment parameters input by an operator;

[0014] The safety monitoring module is used to monitor the operation data of the crane and the system in real time, establish a safety protection mechanism, and stop the operation in time and quickly alarm when the crane and the system operate abnormally.

[0015] Preferably, the debugging and optimization unit includes an equipment calibration module, a parameter adjustment module, a performance testing module and an optimization update module;

[0016] The device calibration module is used to obtain the working parameters of the current sensor, compare the current parameters with the predetermined parameters, and calibrate multiple sensors in sequence;

[0017] The parameter adjustment module is used to adjust various parameters of the control algorithm;

[0018] The performance test module is used to test the load swing amplitude, response application and control accuracy of the system, evaluate the system performance according to the test results, and output the evaluation results;

[0019] The optimization and updating module is used to obtain the evaluation results of the performance test module, optimize and improve the system, correct the error parameters, and synchronize the optimized data to the segment control unit.

[0020] Preferably, the segment control unit includes a lifting control module, a running control module and a stopping control module, wherein the lifting control module is used to control the acceleration and speed of the motor, and automatically adjust the lifting speed according to the acquired load weight and lifting height;

[0021] The operation control module is used to monitor the swing condition of the load in real time, and adopts a predictive control algorithm to adjust the speed and direction of the motor according to the acquired crane motion trajectory and the swing trend of the load;

[0022] The stop control module is used to control the braking force of the brake during the stop phase to gradually decelerate the crane until the crane stops smoothly.

[0023] Preferably, when constructing the anti-sway control model, the following contents are also included:

[0024] S1. Determine input and output variables: take the load swing angle and the load swing angular velocity as input variables, and take the control signal of the crane as output variable;

[0025] S2, data fuzzification processing: convert the precise values ​​of input and output variables into fuzzy language variables, and use membership functions to achieve fuzzification processing;

[0026] S3, establish fuzzy rule base and fuzzy reasoning: establish fuzzy control rules, build module rule base according to the rules, and use fuzzy reasoning method to obtain fuzzy value of output variable according to fuzzy value of input variable and fuzzy rule base;

[0027] S4, defuzzification: convert the output fuzzy value obtained by fuzzy reasoning into an accurate control signal value. The relevant calculation formula is as follows:

[0028] ;

[0029] In the formula, is the exact value after defuzzification, is the membership value of the i-th element in the output fuzzy set, is the corresponding output value.

[0030] Preferably, the crane comprises a base, a frame assembly and a boom, a pull rod is installed between the frame assembly and the boom, a mounting plate is fixedly connected to one side of the boom, an angle sensor and an acceleration sensor are fixedly connected to one side of the mounting plate, a protective plate is overlapped on one side of the angle sensor and the acceleration sensor, a buffer roller is rotatably connected to one side of the protective plate, a reinforcement frame is overlapped on one side of the buffer roller, one side of the reinforcement frame is fixedly connected to the protective plate, one end of the boom is connected to a sling via a pulley and a steel wire, one side of the sling is fixedly connected to a position sensor 1, one end of the boom is hinged to the frame assembly, one side of the frame assembly is fixedly connected to a position sensor 2, and the bottom of the position sensor 2 is rotatably connected to the base.

[0031] Preferably, a guide plate is fixedly connected to one side of the protective plate, and the guide plate is slidably connected to the mounting plate. A buffer rod is fixedly connected to one side of the mounting plate, and one end of the buffer rod is fixedly connected to the protective plate.

[0032] Preferably, both ends of the pull rod are hinged with connecting parts, one of the connecting parts is fixedly connected to the boom, and one side of the other connecting part is fixedly connected to the frame assembly, one side of the frame assembly is fixedly connected to a control box, the top of the control box is fixedly connected to a driving mechanism, one end of the output shaft of the driving mechanism is fixedly connected to a winding rack, and the winding rack and the frame assembly are rotatably connected.

[0033] Preferably, a brake assist mechanism is provided on one side of the frame assembly, and the brake assist mechanism includes an auxiliary plate, a limit plate and a reinforcement plate, one side of the auxiliary plate is fixedly connected to the frame assembly, one side of the auxiliary plate is slidably connected to the limit plate, one side of the limit plate is fixedly connected to a clamping claw of a pneumatic finger, the pneumatic finger is embedded in the reinforcement plate, and one side of the reinforcement plate is fixedly connected to the frame assembly.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] In the present invention, the anti-sway control model in the algorithm control unit is used for calculation to obtain accurate parameters of the crane and the load, and then the current operating state of the crane is segmented according to the segmented control unit. The crane is adjusted and controlled differently according to the segmented results, thereby shortening the reaction time of the crane, thereby improving the response speed of the crane during anti-sway. The accuracy of the segmented adjustment is high, and the debugging and optimization unit can assist the system to automatically adjust the control parameters under different loads and environments, thereby further improving the anti-sway effect of the crane and ensuring the stable use of the crane.

[0036] In the present invention, human-computer interaction can be realized by utilizing the human-computer interaction module, input control instructions and adjustment parameters can be timely identified, the use of the crane and the system can be monitored in real time and the status can be updated through the safety monitoring module, the real-time data of the crane operation can be obtained, and the use of the crane and the system can be interrupted in time and an alarm can be quickly issued when an abnormality occurs, thereby ensuring the safe use of the crane and improving the safety of the entire system when in use.

[0037] 3. In the present invention, the two ends of the buffer rod are respectively connected to the protective plate and the mounting plate. When the protective plate is subjected to external force, the reinforcement frame and the buffer roller buffer one side of the protective plate, and the buffer rod buffers the other side of the protective plate, which can reduce the deformation of the protective plate when it is used, thereby ensuring the protective effect of the protective plate on the angle sensor and the acceleration sensor, and ensuring the normal use of the angle sensor and the acceleration sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a system block diagram of an intelligent anti-sway hoisting machinery control system of the present invention;

[0039] Figure 2 This is a system block diagram of a data processing unit of an intelligent anti-sway hoisting machinery control system of the present invention;

[0040] Figure 3 This is a system block diagram of a debugging and optimization unit of an intelligent anti-sway hoisting machinery control system of the present invention;

[0041] Figure 4 A schematic diagram of the three-dimensional structure of a crane of an intelligent anti-sway hoisting machinery control system of the present invention;

[0042] Figure 5 This is a schematic diagram of the installation of an auxiliary plate structure of an intelligent anti-sway hoisting machinery control system of the present invention;

[0043] Figure 6 This is a schematic diagram of the installation of the connecting component structure of an intelligent anti-sway hoisting machinery control system of the present invention;

[0044] Figure 7 This is a schematic diagram of the buffer roller structure of an intelligent anti-sway hoisting machinery control system of the present invention;

[0045] Figure 8 It is a schematic diagram of an explosion of a protective plate structure of an intelligent anti-sway lifting machinery control system of the present invention.

[0046] In the figure:

[0047] 1. Data processing unit; 11. Data acquisition module; 12. Calibration analysis module; 2. Algorithm control unit; 3. Safety interaction platform; 31. Human-computer interaction module; 32. Safety monitoring module; 4. Debugging and optimization unit; 41. Equipment calibration module; 42. Parameter adjustment module; 43. Performance test module; 44. Optimization update module; 5. Segment control unit; 51. Lifting control module; 52. Operation control module; 53. Stop control module; 6. Lifting device; 61. Position sensor 1; 7 , pull rod; 71, base; 72, frame assembly; 721, position sensor 2; 722, winding frame; 73, boom; 731, protective plate; 732, connecting piece; 733, reinforcement frame; 734, mounting plate; 735, angle sensor; 736, buffer roller; 737, buffer rod; 738, guide plate; 739, acceleration sensor; 8, brake auxiliary mechanism; 81, auxiliary plate; 82, limit plate; 83, pneumatic finger; 84, reinforcement plate; 9, drive mechanism; 91, control box. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] Example 1: Reference Figure 1 - Figure 3 As shown: an intelligent anti-sway hoisting machinery control system, including a data processing unit 1, an algorithm control unit 2, a safety interaction platform 3, a debugging and optimization unit 4 and a segment control unit 5;

[0050] The data processing unit 1 is used to obtain the data of the lifting machinery, and process and transmit the collected data;

[0051] The data processing unit 1 includes a data acquisition module 11 and a calibration analysis module 12. The data acquisition module 11 is used to collect data of multiple sensors used in combination with the crane in real time, and perform filtering and calibration;

[0052] The calibration analysis module 12 is used to analyze the angle, acceleration and position data and calculate the swing amplitude and frequency of the load.

[0053] The algorithm control unit 2 is used to construct an anti-sway control model through a fuzzy control algorithm, calculate corresponding control signals according to the swing of the load and the motion state of the crane, and control the motor and brake of the crane;

[0054] When building the anti-sway control model, the following are also included:

[0055] Step 1: Determine input and output variables: take the load swing angle and load swing angular velocity as input variables, and take the control signal of the crane as output variable;

[0056] Step 2: Data fuzzification processing: Convert the precise values ​​of input and output variables into fuzzy language variables and use membership functions to implement fuzzification processing;

[0057] Step 3: Establish fuzzy rule base and fuzzy reasoning: Establish fuzzy control rules, build a module rule base according to the rules, and use fuzzy reasoning methods to obtain the fuzzy value of the output variable based on the fuzzy value of the input variable and the fuzzy rule base;

[0058] Step 4: Defuzzification: Convert the output fuzzy value obtained by fuzzy reasoning into an accurate control signal value. The relevant calculation formula is as follows:

[0059] ;

[0060] In the formula, is the exact value after defuzzification, is the membership value of the i-th element in the output fuzzy set, is the corresponding output value.

[0061] The safety interaction platform 3 is used to obtain the current state information, sensor data and control parameters of the crane, and identify the control instructions of the operator and the adjustment of the control parameters;

[0062] The safety interaction platform 3 includes a human-computer interaction module 31 and a safety monitoring module 32. The human-computer interaction module 31 is used to obtain and identify the control instructions and adjustment parameters input by the operator. The safety monitoring module 32 is used to monitor the operating data of the crane and the system in real time, establish a safety protection mechanism, and stop working in time and quickly alarm when the crane and the system operate abnormally.

[0063] The debugging and optimization unit 4 is used to calibrate and adjust parameters of system-related equipment, complete equipment debugging, and optimize and improve the system through the obtained test results;

[0064] The debugging and optimization unit 4 includes an equipment calibration module 41, a parameter adjustment module 42, a performance test module 43 and an optimization update module 44. The equipment calibration module 41 is used to obtain the working parameters of the current sensor, compare the current parameters with the predetermined parameters, and calibrate multiple sensors in turn; the parameter adjustment module 42 is used to adjust the various parameters of the control algorithm; the performance test module 43 is used to test the load swing amplitude, response application and control accuracy of the system, evaluate the system performance according to the test results, and output the evaluation results; the optimization update module 44 is used to obtain the evaluation results of the performance test module 43, optimize and improve the system, correct the error parameters, and synchronize the optimized data to the segmented control unit 5.

[0065] The segment control unit 5 is used to divide the use phase of the crane according to the current operation state of the crane, and drive different equipment to operate according to different phases;

[0066] The segmented control unit 5 includes a lifting control module 51, an operation control module 52 and a stop control module 53. The lifting control module 51 is used to control the acceleration and speed of the motor, and automatically adjust the lifting speed according to the weight and lifting height of the load; the operation control module 52 is used to monitor the swing condition of the load in real time, and adopts a predictive control algorithm to adjust the speed and direction of the motor according to the acquired crane motion trajectory and the swing trend of the load; the stop control module 53 is used to control the braking force of the brake during the stopping stage, and gradually decelerate the crane until the crane stops smoothly.

[0067] Embodiment 2: According to Figure 4 - Figure 8As shown, the crane includes a base 71, a frame assembly 72 and a boom 73, a pull rod 7 is installed between the frame assembly 72 and the boom 73, a mounting plate 734 is fixedly connected to one side of the boom 73, an angle sensor 735 and an acceleration sensor 739 are fixedly connected to one side of the mounting plate 734, a protective plate 731 is overlapped on one side of the angle sensor 735 and the acceleration sensor 739, a buffer roller 736 is rotatably connected to one side of the protective plate 731, a reinforcement frame 733 is overlapped on one side of the buffer roller 736, and one side of the reinforcement frame 733 is fixedly connected to the protective plate 731 One end of the boom 73 is connected to the sling 6 through a pulley and a steel wire, one side of the sling 6 is fixedly connected to a position sensor 61, one end of the boom 73 is hinged to the frame assembly 72, one side of the frame assembly 72 is fixedly connected to a position sensor 721, and the bottom of the position sensor 721 is rotatably connected to the base 71, one side of the protective plate 731 is fixedly connected to a guide plate 738, the guide plate 738 is slidably connected to the mounting plate 734, one side of the mounting plate 734 is fixedly connected to a buffer rod 737, and one end of the buffer rod 737 is fixedly connected to the protective plate 731.

[0068] In this embodiment, the base 71 can be used to support the bottom of the frame assembly 72, the suspension arm 73 can be used to guide the lifting of the sling 6, the position sensor 1 61 can detect the position change of the sling 6, the position sensor 2 721 can realize the position detection of the frame assembly 72, the mounting plate 734 can assist the stable installation and use of the angle sensor 735 and the acceleration sensor 739 on one side of the suspension arm 73, and the buffer rod 737 can realize the connection between the mounting plate 734 and the protective plate 731, so as to provide buffer protection for one side of the protective plate 731, and reduce the impact of the protective plate 731 on the acceleration sensor 739 and the angle sensor 7 35, the guide plate 738 can guide the movement of the protective plate 731, so as to facilitate the subsequent resetting of the protective plate 731, and the buffer roller 736 can be supported by the protective plate 731. Through the rotation of the buffer roller 736, the buffering of one side of the protective plate 731 can be achieved, thereby reducing the damage to the side of the protective plate 731, and the reinforcement frame 733 can be used to increase the strength of one side of the protective plate 731, thereby reducing the deformation of the protective plate 731 caused by external force, thereby ensuring the normal use of the angle sensor 735 and the acceleration sensor 739, and the angle sensor 735 and the acceleration sensor 739 can be used to obtain relevant data of the boom 73.

[0069] Embodiment 3: According to Figure 4 - Figure 8As shown, both ends of the pull rod 7 are hinged with connecting parts 732, one of which is fixedly connected to the boom 73, and one side of the other connecting part 732 is fixedly connected to the frame assembly 72, one side of the frame assembly 72 is fixedly connected to a control box 91, and the top of the control box 91 is fixedly connected to a driving mechanism 9, one end of the output shaft of the driving mechanism 9 is fixedly connected to a winding rack 722, and the winding rack 722 is rotatably connected to the frame assembly 72, and one side of the frame assembly 72 is provided with a braking auxiliary mechanism 8, the braking auxiliary mechanism 8 includes an auxiliary plate 81, a limit plate 82 and a reinforcement plate 84, one side of the auxiliary plate 81 is fixedly connected to the frame assembly 72, one side of the auxiliary plate 81 is slidably connected to the limit plate 82, one side of the limit plate 82 is fixedly connected to the clamping claw of the pneumatic finger 83, the pneumatic finger 83 is embedded in the reinforcement plate 84, and one side of the reinforcement plate 84 is fixedly connected to the frame assembly 72.

[0070] In this embodiment, the connecting piece 732 can assist the connection between the two ends of the pull rod 7 and the boom 73 and the frame assembly 72 respectively. The pull rod 7 can assist in adjusting the inclination angle of the boom 73. The use of the driving mechanism 9 and the pneumatic fingers 83 can be controlled by the control box 91. The rotation of the winding frame 722 can be driven by the driving mechanism 9. The distance between the two limit plates 82 can be adjusted by the pneumatic fingers 83. When the limit plate 82 moves, the auxiliary plate 81 can guide the limit plate 82. The pneumatic fingers 83 can be supported and reinforced by the reinforcement plate 84, thereby improving the stability of the pneumatic fingers 83 installed on one side of the frame assembly 72. The two limit plates 82 can be used to clamp and fix the steel wire, thereby reducing the loosening of the steel wire after the entire crane is braked.

[0071] The method of use and working principle of the device: First, the controller inside the control box 91 can be responsible for receiving sensor data, running control algorithms and sending control signals. The input and output modules inside it can be used to connect sensors and actuators to realize data collection and output of control signals, and then control the operation of the drive mechanism 9 and the pneumatic fingers 83 inside the actuator. When the boom 73 is in use, the reinforcement frame 733 and the buffer roller 736 reinforce one side of the protective plate 731. When one side of the protective plate 731 is impacted, the buffer rod 737 shrinks, and one side of the protective plate 731 overlaps with the angle sensor 735 and the acceleration sensor 739. The protective plate 731 is made of silicone, which can reduce the impact on the angle sensor 735 and the acceleration sensor 739, thereby realizing buffer protection for one side of the acceleration sensor 739 and the angle sensor 735.

[0072] When the whole system is in use, multiple sets of data when the crane is in use can be obtained through the position sensor 1 61, the position sensor 2 721, the angle sensor 735 and the acceleration sensor 739, and real-time data can be obtained. The data is filtered and calibrated by the data acquisition module 11, and then the data is analyzed and calculated by the calibration analysis module 12. The current state of the crane is divided into the lifting stage, the operation stage or the stop stage by the segment control unit 5, and then the algorithm control unit 2 calculates the appropriate control signal, adopts different control parameters according to different stages, controls the use of the drive mechanism 9 and the brake, reduces the swing of the load, and then passes through The adjusted control parameters are synchronized to the safety interaction platform 3 and monitored by the safety monitoring module 32 to determine whether the frequency and error of the current crane swing are within the predetermined range. If they are beyond the predetermined range, the sensor parameters are calibrated using the internal equipment calibration module 41 of the debugging and optimization unit 4, and then the control parameters are adjusted using the parameter adjustment module 42. After the adjustment, the system performance is tested using the performance testing module 43, including indicators such as load swing amplitude, response time and control accuracy, to complete parameter correction and optimization. The optimized parameters are synchronized to the segmented control unit 5 through the optimization update module 44 to update the data and complete the overall optimization process.

[0073] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent anti-sway hoisting machinery control system, characterized in that: It includes a data processing unit (1), an algorithm control unit (2), a security interaction platform (3), a debugging and optimization unit (4) and a segment control unit (5); The data processing unit (1) is used to obtain data of the lifting machinery, and to process and transmit the collected data; The data processing unit (1) comprises a data acquisition module (11) and a calibration analysis module (12), wherein the data acquisition module (11) is used to acquire data of a plurality of sensors used in combination with the crane in real time, and to perform filtering and calibration; The calibration analysis module (12) is used to analyze the angle, acceleration and position data to calculate the swing amplitude and frequency of the load; The algorithm control unit (2) is used to construct an anti-sway control model through a fuzzy control algorithm, calculate corresponding control signals according to the swing of the load and the motion state of the crane, and control the motor and brake of the crane; The safety interaction platform (3) is used to obtain the current state information, sensor data and control parameters of the crane, and to identify the control instructions of the operator and the adjustment of the control parameters; The debugging and optimization unit (4) is used to calibrate and adjust parameters of system-related equipment, complete equipment debugging, and optimize and improve the system based on the obtained test results; The debugging and optimization unit (4) comprises an equipment calibration module (41), a parameter adjustment module (42), a performance testing module (43) and an optimization update module (44); The device calibration module (41) is used to obtain the working parameters of the current sensor, compare the current parameters with the predetermined parameters, and calibrate the multiple sensors in sequence; The parameter adjustment module (42) is used to adjust various parameters of the control algorithm; The performance test module (43) is used to test the load swing amplitude, response application and control accuracy of the system, evaluate the system performance according to the test results, and output the evaluation results; The optimization and updating module (44) is used to obtain the evaluation results of the performance testing module (43), optimize and improve the system, correct the error parameters, and synchronize the optimized data to the segment control unit (5); The segment control unit (5) is used to divide the crane into use stages according to the current operation state of the crane, and drive different devices to operate according to different stages; The segment control unit (5) comprises a lifting control module (51), a running control module (52) and a stopping control module (53); the lifting control module (51) is used to control the acceleration and speed of the motor and automatically adjust the lifting speed according to the acquired load weight and lifting height; The operation control module (52) is used to monitor the swing condition of the load in real time, and to use a predictive control algorithm to adjust the speed and direction of the motor according to the acquired crane motion trajectory and the swing trend of the load; The stop control module (53) is used to control the braking force of the brake during the stop phase to gradually decelerate the crane until the crane stops smoothly; The crane comprises a base (71), a frame assembly (72) and a boom (73); a pull rod (7) is installed between the frame assembly (72) and the boom (73); a mounting plate (734) is fixedly connected to one side of the boom (73); an angle sensor (735) and an acceleration sensor (739) are fixedly connected to one side of the mounting plate (734); a protective plate (731) is overlapped on one side of the angle sensor (735) and the acceleration sensor (739); and a buffer roller (731) is rotatably connected to one side of the protective plate (731). 6), a reinforcement frame (733) is overlapped on one side of the buffer roller (736), one side of the reinforcement frame (733) is fixedly connected to the protective plate (731), one end of the suspension arm (73) is connected to the sling (6) through a pulley and a steel wire, one side of the sling (6) is fixedly connected to a position sensor 1 (61), one end of the suspension arm (73) is hinged to the frame assembly (72), one side of the frame assembly (72) is fixedly connected to a position sensor 2 (721), and the bottom of the position sensor 2 (721) is rotatably connected to the base (71).

2. The intelligent anti-sway hoisting machinery control system according to claim 1 is characterized in that: The safety interaction platform (3) comprises a human-machine interaction module (31) and a safety monitoring module (32), wherein the human-machine interaction module (31) is used to obtain and identify control instructions and adjustment parameters input by an operator; The safety monitoring module (32) is used to monitor the operation data of the crane and the system in real time, establish a safety protection mechanism, and promptly stop the operation and quickly alarm when the crane and the system operate abnormally.

3. The intelligent anti-sway hoisting machinery control system according to claim 1 is characterized in that: When building the anti-sway control model, the following are also included: S1. Determine input and output variables: take the load swing angle and the load swing angular velocity as input variables, and take the control signal of the crane as output variable; S2, data fuzzification processing: convert the precise values ​​of input and output variables into fuzzy language variables, and use membership functions to achieve fuzzification processing; S3, establish fuzzy rule base and fuzzy reasoning: establish fuzzy control rules, build module rule base according to the rules, and use fuzzy reasoning method to obtain fuzzy value of output variable according to fuzzy value of input variable and fuzzy rule base; S4, defuzzification: convert the output fuzzy value obtained by fuzzy reasoning into an accurate control signal value. The relevant calculation formula is as follows: ； In the formula, is the exact value after defuzzification, is the membership value of the i-th element in the output fuzzy set, is the corresponding output value.

4. The intelligent anti-sway hoisting machinery control system according to claim 1 is characterized in that: A guide plate (738) is fixedly connected to one side of the protective plate (731), and the guide plate (738) is slidably connected to the mounting plate (734). A buffer rod (737) is fixedly connected to one side of the mounting plate (734), and one end of the buffer rod (737) is fixedly connected to the protective plate (731).

5. The intelligent anti-sway hoisting machinery control system according to claim 1 is characterized in that: Both ends of the pull rod (7) are hinged with connecting pieces (732), one of the connecting pieces (732) is fixedly connected to the boom (73), and one side of the other connecting piece (732) is fixedly connected to the frame assembly (72), one side of the frame assembly (72) is fixedly connected to a control box (91), the top of the control box (91) is fixedly connected to a driving mechanism (9), one end of the output shaft of the driving mechanism (9) is fixedly connected to a winding frame (722), and the winding frame (722) is rotatably connected to the frame assembly (72).

6. The intelligent anti-sway hoisting machinery control system according to claim 5 is characterized in that: A brake assist mechanism (8) is provided on one side of the frame assembly (72), and the brake assist mechanism (8) comprises an auxiliary plate (81), a limit plate (82) and a reinforcement plate (84); one side of the auxiliary plate (81) is fixedly connected to the frame assembly (72); one side of the auxiliary plate (81) is slidably connected to the limit plate (82); one side of the limit plate (82) is fixedly connected to a clamping claw of a pneumatic finger (83); the pneumatic finger (83) is embedded in the reinforcement plate (84); and one side of the reinforcement plate (84) is fixedly connected to the frame assembly (72).

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