Crane balance control system

Abstract

The invention discloses a crane balance control system, which relates to the technical field of balance regulation and control, is used for solving the problem of unbalance caused by weight loss of an interactive article in the crane hoisting process, and comprises the following steps: acquiring the surface roughness and the gravity center position of the interactive article, and analyzing the attribute of the interactive article by using a logistic regression algorithm; the method comprises the following steps: collecting the vibration frequency and energy consumption variation of a crane when the crane lifts an object, analyzing the state of the crane when the crane lifts the object by using a geometric mean method, setting an inclination threshold value by integrating the attribute of an interactive object and the state of the crane, and comparing the inclination of the interactive object when the crane lifts the object with the inclination threshold value to judge whether emergency alarm is given or not. And when the interactive article tilts, detecting the weight loss amount of the interactive article and height airflow values corresponding to different ascending heights of the interactive article, analyzing the abnormal level of the interactive event through fuzzy reasoning, and adjusting the crane according to the abnormal level of the interactive event.

Description

Technical Field

[0001] The present invention relates to the technical field of balance control, and more specifically, to a crane balance control system. Background Art

[0002] Balance control technology is a technology that controls and maintains the stability of a system or equipment. It is used to adjust the motion state of the system or equipment to achieve stability. The application of balance control technology in crane balance control systems can improve the balance of crane hoisting objects and improve the safety of crane hoisting objects.

[0003] The prior art has the following deficiencies: In the past, when a crane was lifting objects, it only detected the center of gravity of the interactive objects or the center of gravity of the crane, and achieved the balance of the crane lifting objects by correcting the center of gravity. The imbalance caused by the change of the center of gravity of the interactive objects during the crane lifting process was not considered. When the interactive objects are spilled or lost during the crane lifting process, the original weight and center of gravity will change, which will cause the crane lifting to be unbalanced and increase the safety risk of the lifting operation. Summary of the invention

[0004] In order to overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides a crane balance control system, which adjusts the tilt threshold by analyzing the properties of interactive objects and the crane hoisting state, analyzes the abnormal level of interactive events based on the loss of interactive objects when the crane hoists and the air flow brought by different heights, and then performs balance regulation to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions: A crane balance control system includes a data acquisition module, a tilt setting module, a loss detection module and an adjustment alarm module, and the modules are signal-connected; The data acquisition module identifies the crane's interactive objects to obtain the surface roughness and center of gravity of the interactive objects. When the crane interacts with the interactive objects, the vibration frequency and energy consumption change of the crane are detected when the crane is lifting the objects. The surface roughness, center of gravity, vibration frequency and energy consumption change of the interactive objects are transmitted to the tilt setting module. The tilt of the interactive objects is collected and transmitted to the loss detection module and the adjustment alarm module. The tilt setting module uses a logistic regression algorithm to analyze the properties of interactive objects according to the surface roughness and center of gravity of the interactive objects, and uses the geometric mean method to analyze the crane status based on the vibration frequency and energy consumption change when the crane is lifting objects. The tilt threshold is set based on the interactive object properties and the crane status and is transmitted to the loss detection module and the adjustment alarm module. The loss detection module determines whether the interactive object is tilted when the crane is lifting the object according to the tilt of the interactive object, and detects the weight of the interactive object to obtain the weight loss of the interactive object, and detects the altitude airflow values ​​corresponding to the different heights of the interactive object in real time. The comprehensive weight loss and altitude airflow values ​​are analyzed through fuzzy reasoning to transfer the abnormal level of the interactive event to the adjustment alarm module; The adjustment alarm module receives the tilt amount of the interactive object and compares it with the tilt threshold and obtains the tilt comparison result, and adjusts the crane according to the tilt comparison result or the abnormal level of the interactive event.

[0006] In a preferred embodiment, the data acquisition module detects the center of gravity of the interactive object using a gravity center measuring instrument before the crane lifts the object and uses the relative position of the interactive object where the center of gravity is located as the default center of gravity position of the interactive object; When the crane is lifting objects, the data acquisition module selects a period of time as the analysis time, receives the vibration frequency of the crane collected by the vibration sensor, and at the same time, divides the analysis time into multiple detection time periods with the same time intervals and uses the energy consumption monitor to monitor the energy consumption of the crane lifting objects.

[0007] In a preferred embodiment, the data acquisition module monitors the energy consumption of the crane hoisting object in the following specific steps: Divide the analysis time into multiple detection time periods with the same time interval, record the energy consumption of the crane at the time points at both ends of each detection time period, and use the energy consumption of the crane recorded at a time point after the detection time period to obtain the energy consumption change of the corresponding detection time period by subtracting the energy consumption of the crane recorded at a time point before the detection time period, compare the energy consumption changes of each detection time period within the analysis time, and select the maximum value as the energy consumption change of the crane hoisting object within the analysis time; After the interactive object is lifted by the crane, the center of gravity of the interactive object is detected again with a center of gravity measuring instrument and the relative position of the interactive object where the center of gravity is located is recorded and marked as the center of gravity position of the interactive object when it is lifted. The vector difference between the center of gravity position of the interactive object when it is lifted and the default center of gravity position of the interactive object is calculated and the distance between the two center of gravity positions is obtained as the center of gravity distance difference.

[0008] In a preferred embodiment, after receiving the surface roughness of the interactive object and the center of gravity distance difference, the tilt setting module first standardizes the two data using logarithmic changes, and then calculates the interactive object attribute value using a logistic regression algorithm based on the results of the standardization of the two data: , where L is the attribute value of the interactive item, e is the natural base, z is the logistic regression parameter and z is the difference between the standardized result of the centroid distance difference and the standardized result of the surface roughness of the interactive item.

[0009] In a preferred embodiment, the tilt setting module performs preprocessing as follows after receiving the vibration frequency and energy consumption change of the crane when the crane is lifting objects transmitted by the data acquisition module: Access the historical database to obtain the energy consumption change benchmark value of the crane hoisting object. After the interactive object is lifted by the crane, obtain the energy consumption change of the crane hoisting object within the analysis time. The ratio of the energy consumption change of the crane hoisting object to the energy consumption change benchmark value is used as the state initial value of the current interactive object being lifted by the crane. The vibration frequency of the crane and the state initial value are logarithmically changed and standardized: ,in, is the vibration frequency or state value of the crane, It is the result of the normalization of the vibration frequency or state value of the crane; The crane state value is calculated by the geometric mean method based on the vibration frequency of the crane when the crane is lifting objects and the results of the normalization of the state value: , where S is the state value of the crane when it is lifting objects, P is the result of the normalization of the vibration frequency of the crane, and C is the result of the normalization of the state value of the crane.

[0010] In a preferred embodiment, the tilt setting module uses the product of the interactive item attribute value and the crane state value as the interactive state risk coefficient, uses the ratio of the interactive state risk coefficient to the preset risk calibration value as the adjustment ratio of the tilt threshold, accesses the historical database to obtain the default tilt threshold of the crane, and updates the default tilt threshold by adjusting the ratio: ,in is the updated tilt threshold, is the default tilt threshold, To adjust the ratio.

[0011] In a preferred embodiment, after receiving the tilt amount of the interactive object, the loss detection module determines whether the interactive object tilts when the crane is lifting the object according to the following judgment rule: when the tilt amount of the interactive object is 0, it is determined that the interactive object does not tilt when the crane is lifting the object; otherwise, it is determined that the interactive object tilts when the crane is lifting the object; When the loss detection module determines that the crane is tilted when lifting objects, it randomly selects two time points as loss measurement points, detects the weight of the interactive items at the loss measurement points, and subtracts the weight of the interactive items detected at the latter loss measurement point from the weight of the interactive items detected at the previous loss measurement point to obtain the weight loss of the interactive items; After the interactive object is lifted by the crane, the loss detection module monitors the airflow at different heights of the interactive object in real time through the airflow sensor and obtains the height airflow value.

[0012] In a preferred embodiment, the loss detection module uses fuzzy reasoning to analyze the abnormal level of the interaction event based on the weight loss of the interactive item and the height airflow value. The specific steps are as follows: The weight loss of the interactive items and the height airflow value are defined as input variables; Define the interaction event abnormality level as an output variable; Formulate a set of fuzzy rules to describe the relationship between different input variables and output variables; Fuzzy reasoning is performed according to fuzzy rules, and the abnormal level of the interaction event is marked as low or high according to the output results.

[0013] In a preferred embodiment, the adjustment alarm module receives the tilt amount of the interactive object transmitted by the data acquisition module and the updated tilt threshold transmitted by the tilt setting module and then compares them; When the tilt of the interactive object is lower than the updated tilt threshold, the angle of the hanging object is adjusted; when the tilt of the interactive object exceeds the updated tilt threshold, the angle of the hanging object is adjusted and an alarm is issued; The adjustment alarm module receives the abnormal level of the interaction event transmitted by the loss detection module and makes a judgment. When the abnormal level of the interaction event is marked as low, the angle of the hanging object is adjusted; when the abnormal level of the interaction event is marked as high, the angle of the hanging object is adjusted and the alarm processing is performed; Adjusting the angle of the hoisted object is to adjust the crane rotation device to reduce the tilt of the interactive object until the tilt of the interactive object is 0; the alarm processing is to send an alarm text message and an alarm ringtone to the crane driver.

[0014] The technical effects and advantages of a crane balance control system of the present invention are as follows: The present invention analyzes the properties of the interactive object by acquiring the surface roughness and the center of gravity position of the interactive object, collects the vibration frequency and energy consumption change of the crane when the crane is lifting the object to analyze the crane state when the crane is lifting the object, sets the tilt threshold by comprehensively evaluating the tilt threshold from two aspects to improve the threshold accuracy and the safety of the crane operation, detects the inclination of the interactive object when the crane is lifting the object and compares it with the tilt threshold to determine whether to issue an emergency alarm, and when the interactive object tilts, detects the weight loss of the interactive object and the altitude airflow values ​​corresponding to the different heights of the interactive object rising and analyzes the abnormal level of the interactive event, adjusts the crane according to the abnormal level of the interactive event, and reduces the safety hazard caused by the weight loss during the rising of the interactive object. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The figure is a schematic diagram of a crane balance control system according to the present invention.

[0016] Figure 2 The present invention is a flow chart of a crane balance control system. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] The present invention analyzes the properties of the interactive object by acquiring the surface roughness and the center of gravity position of the interactive object, collects the vibration frequency and energy consumption change of the crane when the crane is lifting the object to analyze the state of the crane when the crane is lifting the object, sets the tilt threshold based on the properties of the interactive object and the state of the crane, detects the inclination of the interactive object when the crane is lifting the object and compares it with the tilt threshold to determine whether to issue an emergency alarm, and when the interactive object tilts, detects the weight loss of the interactive object and the altitude airflow values ​​corresponding to the different heights of the interactive object rising and analyzes the abnormal level of the interactive event, adjusts the crane according to the abnormal level of the interactive event, and reduces the safety hazard caused by the weight loss during the rising of the interactive object.

[0019] Embodiment, a crane balance control system, such as Figure 1 As shown, it includes a data acquisition module, a tilt setting module, a loss detection module and an adjustment alarm module, and the signals between the modules are connected; The functions of each module are as follows: The data acquisition module identifies the crane's interactive objects to obtain the surface roughness and center of gravity of the interactive objects. When the crane interacts with the interactive objects, the vibration frequency and energy consumption change of the crane are detected when the crane is lifting the objects. The surface roughness, center of gravity, vibration frequency and energy consumption change of the interactive objects are transmitted to the tilt setting module. The tilt of the interactive objects is collected and transmitted to the loss detection module and the adjustment alarm module. The tilt setting module uses a logistic regression algorithm to analyze the properties of interactive objects according to the surface roughness and center of gravity of the interactive objects, and uses the geometric mean method to analyze the crane status based on the vibration frequency and energy consumption change when the crane is lifting objects. The tilt threshold is set based on the interactive object properties and the crane status and is transmitted to the loss detection module and the adjustment alarm module. The loss detection module determines whether the interactive object is tilted when the crane is lifting the object according to the tilt of the interactive object, and detects the weight of the interactive object to obtain the weight loss of the interactive object, and detects the altitude airflow values ​​corresponding to the different heights of the interactive object in real time. The comprehensive weight loss and altitude airflow values ​​are analyzed through fuzzy reasoning to transfer the abnormal level of the interactive event to the adjustment alarm module; The adjustment alarm module receives the tilt amount of the interactive object and compares it with the tilt threshold and obtains the tilt comparison result, and adjusts the crane according to the tilt comparison result or the abnormal level of the interactive event.

[0020] It should be noted that interactive objects are objects moved by cranes. The tilt threshold is established based on the physical state of the crane and different interactive objects to reduce the risk of crane lifting objects caused by differences in interactive objects.

[0021] The data acquisition module displays and collects the surface roughness of the interactive object through a roughness measuring instrument, and uses a gravity measuring instrument to detect the center of gravity of the interactive object before the crane lifts the object, and uses the relative position of the interactive object where the center of gravity is located as the default center of gravity position of the interactive object; When the crane is lifting objects, the data acquisition module selects a period of time as the analysis time, receives the vibration frequency of the crane collected by the vibration sensor, and at the same time, divides the analysis time into detection time periods with the same time intervals and uses the energy consumption monitor to monitor the energy consumption of the crane lifting objects.

[0022] It should be noted that the roughness meter is a device for measuring the surface roughness of an object, and is used to measure the surface roughness of interactive items and display it quantitatively; the center of gravity meter is a device for determining the center of gravity position of an object, and is used to measure the center of gravity of an interactive item and obtain the default center of gravity position of the interactive item; the vibration sensor is a device for monitoring and measuring the vibration of an object, and is installed on a crane to monitor the vibration frequency of the crane when the crane is lifting objects; the energy consumption monitor is a device for real-time monitoring and recording of energy usage, and in this case it is used to monitor the energy consumption of the crane when the crane is lifting objects.

[0023] The specific steps of the data acquisition module to monitor the energy consumption of crane hoisting objects are as follows: The analysis time is divided into multiple detection time periods with the same time interval, and the energy consumption of the crane is recorded once at the time points at both ends of each detection time period. The energy consumption change of the corresponding detection time period is obtained by subtracting the energy consumption of the crane recorded at a time point after the detection time period from the energy consumption of the crane recorded at a time point before the detection time period. The energy consumption change of each detection time period during the analysis time is compared, and the maximum value is selected as the energy consumption change of the crane hoisting objects during the analysis time.

[0024] After the interactive object is lifted by the crane, the gravity center of the interactive object is detected again with a gravity center measuring instrument and the relative position of the interactive object where the gravity center is located is recorded and marked as the gravity center position of the interactive object when it is lifted. The vector difference between the gravity center position of the interactive object when it is lifted and the default gravity center position of the interactive object is calculated and the distance between the two gravity center positions is obtained as the gravity center distance difference; If it is parallel to the horizontal position, it is judged that the interactive object is not tilted when it is lifted by the crane; otherwise, it is judged that the interactive object is tilted when it is lifted by the crane, and the angle between the vector direction of the center of gravity position of the interactive object when it is lifted and the default center of gravity position of the interactive object and the horizontal direction is taken as the tilt amount of the interactive object; The data acquisition module transmits the surface roughness of the interactive object, the center of gravity distance difference, the vibration frequency of the crane and the energy consumption change to the tilt setting module; and transmits the tilt amount of the interactive object to the loss detection module and the adjustment alarm module.

[0025] It should be noted that vector difference calculation is a kind of vector operation. In this example, the vector difference calculation is to obtain the distance between the two center of gravity positions by subtracting the coordinate values ​​of the two center of gravity positions, and connect the two center of gravity positions, and record the direction of the connected straight line, which is used to obtain the inclination of the interactive object when it is lifted by the crane.

[0026] After receiving the surface roughness of the interactive object and the center of gravity distance difference from the data acquisition module, the tilt setting module first uses logarithmic changes to standardize the two data, and then uses the logistic regression algorithm to calculate the attribute value of the interactive object: , where L is the attribute value of the interactive item, e is the natural base, z is the logistic regression parameter and z is the difference between the standardized result of the centroid distance difference and the standardized result of the surface roughness of the interactive item.

[0027] It should be noted that logarithmic change is a standardized algorithm that presents the original data in logarithmic form, which is used to reduce the range of data and make different data enter the same dimension. According to the logistic regression algorithm, the relationship between the attribute value of the item and the surface roughness of the interactive item and the difference in the center of gravity distance can be determined. When the surface roughness of the interactive item is smaller or the difference in the center of gravity distance is larger, the attribute value of the item is larger, and the interactive item is more likely to slide and deviate, causing safety hazards.

[0028] The tilt setting module receives the vibration frequency and energy consumption change of the crane when the crane is lifting objects from the data acquisition module and performs preprocessing as follows: Access the historical database to obtain the energy consumption change benchmark value of the crane hoisting object. After the interactive object is lifted by the crane, obtain the energy consumption change of the crane hoisting object within the analysis time. The ratio of the energy consumption change of the crane hoisting object to the energy consumption change benchmark value is used as the state initial value of the current interactive object being lifted by the crane. The vibration frequency of the crane and the state initial value are logarithmically changed and standardized: ,in, is the vibration frequency or state value of the crane, It is the result of the normalization of the vibration frequency or state value of the crane; The crane state value is calculated by the geometric mean method based on the vibration frequency of the crane when the crane is lifting objects and the results of the normalization of the state value: , where S is the state value of the crane when it is lifting objects, P is the result of the normalization of the vibration frequency of the crane, and C is the result of the normalization of the state value of the crane.

[0029] It should be noted that the historical database is a database system that stores and manages historical data. The energy consumption change baseline value recorded in the past when the crane lifted objects can be called up in the historical database. The energy consumption change baseline value is the energy consumption change when the crane lifts objects under normal conditions. The geometric mean method can be used to determine the relationship between the crane's state value and the crane's vibration frequency and state value when the crane lifts objects. When the crane lifts objects, the greater the crane's vibration frequency or state value, the greater the crane's state value, and the more likely it is that safety hazards will occur when interactive objects are lifted by the crane, which requires more attention.

[0030] The tilt setting module uses the product of the interactive item attribute value and the crane state value as the interactive state risk coefficient, and uses the ratio of the interactive state risk coefficient to the preset risk calibration value as the adjustment ratio of the tilt threshold. It accesses the historical database to obtain the default tilt threshold of the crane, and updates the default tilt threshold by adjusting the ratio: ,in is the updated tilt threshold, is the default tilt threshold, To adjust the ratio.

[0031] It should be noted that the default tilt threshold is the tilt threshold set for past crane hoisting operations recorded in the historical database. When the tilt of the crane hoisting operations exceeds the tilt threshold, the crane will take action or issue an alarm. The risk correction value is set by professionals in this field based on actual conditions and will not be elaborated here.

[0032] After receiving the tilt amount of the interactive object, the loss detection module determines whether the interactive object is tilted when the crane lifts the object. The judgment rule is: when the tilt amount of the interactive object is 0, it is judged that there is no tilt when the crane lifts the object; otherwise, it is judged that there is a tilt when the crane lifts the object.

[0033] When the loss detection module determines that the crane is tilted when lifting objects, it randomly selects two time points as loss measurement points, detects the weight of the interactive items at the loss measurement points, and subtracts the weight of the interactive items detected at the latter loss measurement point from the weight of the interactive items detected at the previous loss measurement point to obtain the weight loss of the interactive items; After the interactive object is lifted by the crane, the loss detection module uses the airflow sensor to monitor the airflow at different heights of the interactive object in real time and obtain the height airflow value; It should be noted that the airflow sensor is a device that measures the gas flow velocity and flow rate, and is used to measure the airflow when objects are hoisted by a crane at different heights.

[0034] The loss detection module uses fuzzy reasoning to analyze the abnormal level of interactive events based on the weight loss of interactive items and the height airflow value. The specific steps are as follows: The weight loss of interactive items and the height airflow value are defined as input variables and divided into different fuzzy sets, for example, "Big", "Small" for the weight loss of interactive items; "High", "Low" for the height airflow value.

[0035] The interaction event abnormality level is defined as the output variable and divided into different fuzzy sets, for example, “High” and “Low” for the interaction event abnormality level.

[0036] Formulate a set of fuzzy rules to describe the relationship between different input variables and output variables; for example, mark the weight loss of interactive items as W, the altitude airflow value as H, and the abnormal level of interactive events as Y, then define: First Rule: IF (W is Big) AND (H is High) THEN (Y is High) Second Rule: IF (W is Small) AND (H is Low) THEN (Y is Low) ... Fuzzy reasoning is performed according to fuzzy rules. When the output result is "High", the abnormal level of the interaction event is marked as high; when the output result is "Low", the abnormal level of the interaction event is marked as low. The churn detection module analyzes the abnormal level of the interaction event and then passes it to the adjustment alarm module.

[0037] It should be noted that the number of fuzzy set divisions can be adjusted according to actual conditions. This example only takes two fuzzy sets as an example. In addition, the weight loss of interactive items and the height of airflow values ​​can be judged by setting thresholds according to actual conditions. For example, when the weight loss exceeds 1kg, it is marked as "Big", and when the height of airflow value exceeds 1.5m / s, it is marked as "High", etc., which will not be analyzed here.

[0038] The adjustment alarm module receives the tilt amount of the interactive object transmitted by the data acquisition module and the updated tilt threshold value transmitted by the tilt setting module and compares them. When the tilt amount of the interactive object is lower than the updated tilt threshold value, the hanging object angle is adjusted; when the tilt amount of the interactive object exceeds the updated tilt threshold value, the hanging object angle is adjusted and an alarm is processed at the same time; Adjusting the angle of the hoisted object is to adjust the crane rotation device to reduce the tilt of the interactive object until the tilt of the interactive object is 0.

[0039] The adjustment alarm module makes a judgment after receiving the abnormal level of the interaction event transmitted by the loss detection module. When the abnormal level of the interaction event is marked as low, the hanging angle is adjusted; when the abnormal level of the interaction event is marked as high, the hanging angle is adjusted and the alarm is processed at the same time.

[0040] It should be noted that the alarm processing is not unique, and it can be processed by sending an alarm text message or an alarm ring to the crane driver, which will not be elaborated here.

[0041] The above embodiments may be implemented in whole or in part by software, hardware, firmware or any other combination. When implemented by software, the above embodiments may be implemented in whole or in part in the form of a computer program product.

[0042] Those of ordinary skill in the art will appreciate that the modules and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application of the technical solution and the invention constraints. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0043] In addition, each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0044] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0045] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. 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. A crane balance control system, characterized in that: It includes a data acquisition module, a tilt setting module, a loss detection module and an adjustment alarm module, and the signal connections between the modules; The data acquisition module identifies the crane's interactive objects to obtain the surface roughness and center of gravity of the interactive objects. When the crane interacts with the interactive objects, the vibration frequency and energy consumption change of the crane are detected when the crane is lifting the objects. The surface roughness, center of gravity, vibration frequency and energy consumption change of the interactive objects are transmitted to the tilt setting module. The tilt of the interactive objects is collected and transmitted to the loss detection module and the adjustment alarm module. The tilt setting module uses a logistic regression algorithm to analyze the properties of interactive objects according to the surface roughness and center of gravity of the interactive objects, and uses the geometric mean method to analyze the crane status based on the vibration frequency and energy consumption change when the crane is lifting objects. The tilt threshold is set based on the interactive object properties and the crane status and is transmitted to the loss detection module and the adjustment alarm module. The loss detection module determines whether the interactive object is tilted when the crane is lifting the object according to the tilt of the interactive object, and detects the weight of the interactive object to obtain the weight loss of the interactive object, and detects the altitude airflow values ​​corresponding to the different heights of the interactive object in real time. The comprehensive weight loss and altitude airflow values ​​are analyzed through fuzzy reasoning to transfer the abnormal level of the interactive event to the adjustment alarm module; The adjustment alarm module receives the tilt amount of the interactive object and compares it with the tilt threshold and obtains the tilt comparison result, and adjusts the crane according to the tilt comparison result or the abnormal level of the interactive event.

2. A crane balance control system according to claim 1, characterized in that: The data acquisition module displays and collects the surface roughness of the interactive object, detects the center of gravity of the interactive object before the crane lifts the object, and uses the relative position of the center of gravity of the interactive object as the default center of gravity position of the interactive object; When the crane is lifting objects, the data acquisition module selects a period of time as the analysis time, receives the vibration frequency of the crane collected by the vibration sensor, and at the same time, divides the analysis time into multiple detection time periods with the same time interval to monitor the energy consumption of the crane lifting objects.

3. A crane balance control system according to claim 2, characterized in that: The specific steps of the data acquisition module to monitor the energy consumption of crane hoisting objects are as follows: Divide the analysis time into multiple detection time periods with the same time interval, record the energy consumption of the crane at the time points at both ends of each detection time period, and use the energy consumption of the crane recorded at a time point after the detection time period to obtain the energy consumption change of the corresponding detection time period by subtracting the energy consumption of the crane recorded at a time point before the detection time period, compare the energy consumption changes of each detection time period within the analysis time, and select the maximum value as the energy consumption change of the crane hoisting object within the analysis time; After the interactive object is lifted by the crane, the gravity center of the interactive object is detected again with a gravity center measuring instrument and the relative position of the interactive object where the gravity center is located is recorded and marked as the gravity center position of the interactive object when it is lifted. The vector difference between the gravity center position of the interactive object when it is lifted and the default gravity center position of the interactive object is calculated and the distance between the two gravity center positions is obtained as the gravity center distance difference; In the vector difference calculation, the coordinate values ​​of the two center of gravity positions are subtracted to obtain the distance between the two center of gravity positions, and the two center of gravity positions are connected. The direction of the connected straight line is recorded to obtain the tilt amount of the interactive object when it is lifted by the crane.

4. A crane balance control system according to claim 2, characterized in that: After receiving the surface roughness of the interactive object and the center of gravity distance difference, the tilt setting module first uses logarithmic changes to standardize the two data, and then uses the logistic regression algorithm to calculate the attribute value of the interactive object: , where L is the attribute value of the interactive item, e is the natural base, z is the logistic regression parameter, and z is the difference between the standardized result of the center of gravity distance difference and the standardized result of the surface roughness of the interactive item.

5. A crane balance control system according to claim 3, characterized in that: The tilt setting module receives the vibration frequency and energy consumption change of the crane when the crane is lifting objects from the data acquisition module and performs preprocessing as follows: Access the historical database to obtain the energy consumption change benchmark value of the crane hoisting object. After the interactive object is lifted by the crane, obtain the energy consumption change of the crane hoisting object within the analysis time. The ratio of the energy consumption change of the crane hoisting object to the energy consumption change benchmark value is used as the state initial value of the current interactive object being lifted by the crane. The vibration frequency of the crane and the state initial value are logarithmically changed and standardized: ,in, is the vibration frequency or state value of the crane, It is the result of the normalization of the vibration frequency or state value of the crane; The crane state value is calculated by the geometric mean method based on the vibration frequency of the crane when the crane is lifting objects and the results of the normalization of the state value: , where S is the state value of the crane when the crane is lifting objects, P is the result of the normalization of the vibration frequency of the crane, and C is the result of the normalization of the state value of the crane; The historical database is a database system for storing and managing historical data. The energy consumption change benchmark value is stored in the historical database. The energy consumption change benchmark value is the energy consumption change when the crane is lifting objects under normal conditions.

6. A crane balance control system according to claim 5, characterized in that: The tilt setting module uses the product of the interactive item attribute value and the crane state value as the interactive state risk coefficient, and uses the ratio of the interactive state risk coefficient to the preset risk calibration value as the adjustment ratio of the tilt threshold. It accesses the historical database to obtain the default tilt threshold of the crane, and updates the default tilt threshold by adjusting the ratio: ,in is the updated tilt threshold, is the default tilt threshold, To adjust the ratio; The default tilt threshold is the tilt threshold set for past crane loads recorded in the history database.

7. A crane balance control system according to claim 5, characterized in that: After receiving the tilt of the interactive object, the loss detection module determines whether the interactive object tilts when the crane is lifting the object. The judgment rule is: when the tilt of the interactive object is 0, it is judged that the crane is not tilted when lifting the object; otherwise, it is judged that the crane is tilted when lifting the object; When the loss detection module determines that the crane is tilted when lifting objects, it randomly selects two time points as loss measurement points, detects the weight of the interactive items at the loss measurement points, and subtracts the weight of the interactive items detected at the latter loss measurement point from the weight of the interactive items detected at the previous loss measurement point to obtain the weight loss of the interactive items; After the interactive object is lifted by the crane, the loss detection module monitors the airflow at different heights of the interactive object in real time through the airflow sensor and obtains the height airflow value.

8. A crane balance control system according to claim 7, characterized in that: The loss detection module uses fuzzy reasoning to analyze the abnormal level of interactive events based on the weight loss of interactive items and the height airflow value. The specific steps are as follows: The weight loss of the interactive items and the height airflow value are defined as input variables; Define the interaction event abnormality level as an output variable; Formulate a set of fuzzy rules to describe the relationship between different input variables and output variables; Fuzzy reasoning is performed according to fuzzy rules, and the abnormal level of the interaction event is marked as low or high according to the output results.

9. A crane balance control system according to claim 8, characterized in that: The adjustment alarm module receives and compares the tilt amount of the interactive object transmitted by the data acquisition module and the updated tilt threshold transmitted by the tilt setting module; When the tilt of the interactive object is lower than the updated tilt threshold, the angle of the hanging object is adjusted; when the tilt of the interactive object exceeds the updated tilt threshold, the angle of the hanging object is adjusted and an alarm is issued; The adjustment alarm module receives the abnormal level of the interaction event transmitted by the loss detection module and makes a judgment. When the abnormal level of the interaction event is marked as low, the angle of the hanging object is adjusted; when the abnormal level of the interaction event is marked as high, the angle of the hanging object is adjusted and the alarm processing is performed; Adjusting the angle of the hoisted object is to adjust the crane rotation device to reduce the tilt of the interactive object until the tilt of the interactive object is 0; the alarm processing is to send an alarm text message and an alarm ringtone to the crane driver.

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