Anti-swing control device of crane

Abstract

The invention relates to the field of lifting control, in particular to an anti-swing control device for a crane, which is provided with a feature acquisition module, a lifting analysis module and a lifting control module, collects data through the feature acquisition module, analyzes the form difference quantity of an underwater heavy object to be lifted in different reference directions through the lifting analysis module, and controls the lifting control module to control the lifting control module. The method comprises the following steps: calculating a fluid resistance difference characterization coefficient by combining the weight of a to-be-lifted weight, judging the fluid resistance difference category of the underwater to-be-lifted weight, adaptively controlling the crane to act subsequently according to the fluid resistance difference category, and particularly, determining the migration speed of the crane according to the fluid resistance difference characterization coefficient under the strong resistance difference category. And the migration state of the crane is adjusted according to the migration stability characterization value, so that the influence of swinging caused by uneven fluid resistance on the migration process when the underwater special-shaped object is migrated is reduced, and the migration safety and reliability are improved.

Description

Technical Field

[0001] The invention relates to the field of lifting control, and in particular to an anti-sway control device for a crane. Background Art

[0002] Crane refers to a multi-action lifting machine that can lift heavy objects vertically and carry them horizontally within a certain range. Its uses include hoisting equipment, emergency rescue, lifting, machinery, rescue, etc. It lifts heavy objects to designated locations through cyclic and intermittent movements, reducing the use of manpower and improving work efficiency. Cranes are developing and using more and more widely in the market, and are widely used in ports, workshops, power plants, construction sites and other places.

[0003] Chinese patent publication number: CN115924761A, discloses a small crawler crane based on Internet of Things control and its control method, the control method includes calculating the collaborative target position according to the user's operation and calculating the single-machine target position of the lifting hook of the local crane and another small crawler crane based on Internet of Things control according to the positioning data and the target position; then calculating the driving parameters of the local crane and the other crane according to the single-machine target position of the lifting hook of the local crane and the other crane.

[0004] However, there are still the following problems in the prior art:

[0005] In the prior art, when moving underwater objects, the effect of the shape differences of the objects to be lifted on the water flow resistance is not taken into consideration. In particular, when the objects to be lifted are of irregular shapes, the water flow has different resistance to different parts of the objects during the movement due to the differences in shape. Under the interference of gravity inertia, the objects are prone to swing during the movement, affecting the safety and reliability of the movement. Summary of the invention

[0006] To this end, the present invention provides a crane anti-sway control device to overcome the problem in the prior art that when the object to be lifted is of irregular shape, due to the difference in shape, the water flow has different resistance to different parts of the lifted object during transportation, and under the interference of gravity inertia, it is easy to swing during the transportation process, affecting the safety and reliability of transportation.

[0007] To achieve the above object, the present invention provides a crane anti-sway control device, which comprises:

[0008] A feature acquisition module, comprising an image acquisition unit arranged on the crane for acquiring a depth image of an underwater object to be lifted, a vibration detection unit for acquiring a vibration amplitude, and a flow velocity acquisition unit for acquiring an underwater flow velocity;

[0009] A lifting analysis module, which is connected to the feature acquisition module, and is used to construct a three-dimensional model of the underwater object to be lifted based on the depth image of the underwater object to be lifted, analyze the morphological differences of the underwater object to be lifted in different reference directions, calculate the fluid resistance difference characterization coefficient in combination with the weight of the object to be lifted, and determine the fluid resistance difference category of the underwater object to be lifted;

[0010] A lifting control module, which is connected to the feature acquisition module and the lifting analysis module respectively, and is used to control the crane action based on the difference category of the fluid resistance of the underwater object to be lifted, including:

[0011] Determine the moving speed of the crane according to the fluid resistance difference characterization coefficient, and calculate the moving stability characterization value based on the vibration amplitude and underwater flow velocity during the moving process of the crane to adjust the moving state of the crane;

[0012] Or, control the crane to maintain a reference moving speed.

[0013] Furthermore, the lifting analysis module is used to analyze the shape difference of the underwater object to be lifted in different reference directions, including:

[0014] Used to determine the center of gravity of the three-dimensional model of the underwater object to be lifted;

[0015] Used to construct a number of reference planes passing through the center of gravity of the three-dimensional model of the underwater object to be lifted and perpendicular to the horizontal plane;

[0016] It is used to calculate the model volume difference on both sides of the reference plane after each reference plane cuts the three-dimensional model of the underwater object to be lifted;

[0017] The mean value of the calculated model volume difference is used as the morphological difference amount.

[0018] Furthermore, the lifting analysis module calculates the fluid resistance difference characterization coefficient according to formula (1):

[0019]

[0020] In formula (1), E represents the coefficient representing the difference in fluid resistance, D represents the amount of morphological difference, D0 represents the preset standard amount of morphological difference, M represents the weight of the object to be lifted, M0 represents the preset standard weight of the object to be lifted, α represents the weight coefficient of the amount of morphological difference, and β represents the weight coefficient of the weight of the object to be lifted.

[0021] Furthermore, the lifting analysis module determines the difference categories of each fluid resistance, including:

[0022] If the fluid resistance difference characterization coefficient is less than or equal to the reference resistance difference characterization coefficient, it is determined that the underwater object to be lifted belongs to the weak resistance difference category;

[0023] If the fluid resistance difference characterization coefficient is greater than the reference resistance difference characterization coefficient, it is determined that the underwater object to be lifted belongs to the strong resistance difference category.

[0024] Furthermore, the lifting control module selects a control method for the moving speed including:

[0025] If the fluid resistance difference belongs to the weak resistance difference category, controlling the crane to maintain a reference moving speed;

[0026] If the fluid resistance difference belongs to the strong resistance difference category, the moving speed of the crane is determined according to the fluid resistance difference characterization coefficient, and the moving stability characterization value is calculated based on the vibration amplitude and underwater flow rate during the movement of the crane to adjust the moving state of the crane.

[0027] Furthermore, the moving speed of the crane is determined according to the fluid resistance difference characterization coefficient.

[0028] Among them, the determined migration velocity is negatively correlated with the fluid resistance difference characterization coefficient.

[0029] Furthermore, the transport stability characterization value is determined by a linear calculation result of the vibration amplitude and underwater flow velocity during the transport of the crane.

[0030] Further, the hoisting control module determines the transport state based on the reference range to which the transport stability characterization value belongs;

[0031] Among them, a single benchmark range corresponds to a single migration state;

[0032] The transport state includes stopping transport, maintaining transport speed and correcting transport speed.

[0033] Furthermore, it also includes an early warning module for issuing an early warning signal based on the movement status of the crane, wherein:

[0034] If the moving state of the crane is to stop moving, the warning module sends out a warning signal.

[0035] Furthermore, it also includes a display module for displaying the data collected by the feature collection module.

[0036] Compared with the prior art, the present invention sets a feature acquisition module, a lifting analysis module and a lifting control module. The feature acquisition module collects data, and the lifting analysis module analyzes the morphological differences of the underwater objects to be lifted in different reference directions, so as to calculate the fluid resistance difference characterization coefficient in combination with the weight of the objects to be lifted, and determine the fluid resistance difference category of the underwater objects to be lifted. Subsequently, the crane action is adaptively controlled according to the fluid resistance difference category. In particular, under the strong resistance difference category, the crane's moving speed is determined according to the fluid resistance difference characterization coefficient, and the crane's moving state is adjusted according to the moving stability characterization value, thereby reducing the influence of the swing caused by uneven fluid resistance on the moving process when moving underwater special-shaped objects, thereby improving the safety and reliability of movement.

[0037] In particular, the present invention calculates the fluid resistance difference characterization coefficient by calculating the difference in shape of the object to be lifted and the weight of the underwater object to be lifted. When the crane is lifting underwater, due to the irregular geometric shape of the underwater object to be lifted and the uneven fluid resistance, the object to be lifted will swing during the transportation process, causing the crane to vibrate, thereby leading to lifting failure, and heavy lifting objects will amplify the above-mentioned impact. Compared with small lifting objects, it is more difficult to determine the difference in shape of large lifting objects. During the transportation process, the contact with the water surface increases, and the fluid resistance it encounters increases. Therefore, the present invention considers the difference in shape of the underwater object to be lifted and the weight of the object to be lifted to calculate the fluid resistance difference characterization coefficient, characterizes the above-mentioned phenomenon, provides data support for the subsequent classification of fluid resistance difference categories, and then adaptively determines the lifting control module to select the control method for the transportation speed, thereby improving the safety and reliability of transportation.

[0038] In particular, the present invention classifies fluid resistance differences into categories. In actual situations, the crane has a certain reference moving speed, and the underwater moving speed may be different from the land moving speed. In particular, when the underwater object to be lifted is in a category with a strong resistance difference, the object to be lifted may swing due to the uneven fluid resistance during the movement. At this time, an unreasonable moving speed may aggravate the above phenomenon, and then easily cause crane failure and affect the lifting safety. Therefore, the present invention adaptively determines the moving speed of the crane according to the fluid resistance difference characterization coefficient to improve the transportation safety and reliability.

[0039] In particular, the present invention continuously detects the vibration amplitude and the underwater flow velocity migration stability characterization value during the transportation process. For underwater objects to be lifted with strong resistance difference, there is a high tendency for swinging during the transportation process, which will cause the crane to vibrate, and when the water flow velocity is high, the above phenomenon will be aggravated. Therefore, the present invention considers calculating the migration stability characterization value, timely adjusting the migration state of the crane, and improving the stability and reliability of the transportation.

[0040] In particular, when the underwater object to be lifted is of a weak resistance difference category, the crane is controlled to maintain a reference moving speed to ensure the moving speed of the underwater object to be lifted, thereby ensuring the efficiency of the movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a structural schematic diagram of a crane anti-sway control device according to an embodiment of the invention;

[0042] Figure 2 A logic block diagram for determining the difference category of fluid resistance of an underwater object to be lifted according to an embodiment of the invention;

[0043] Figure 3 A logic block diagram of controlling the crane action according to an embodiment of the invention;

[0044] Figure 4 A logic block diagram of issuing an early warning signal for determining an embodiment of the present invention. DETAILED DESCRIPTION

[0045] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0046] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0047] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0048] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] See also Figures 1 to 4 As shown, Figure 1 This is a schematic diagram of the structure of a crane anti-sway control device according to an embodiment of the invention. Figure 2This is a logic block diagram for determining the difference category of fluid resistance of an underwater object to be lifted according to an embodiment of the invention. Figure 3 The following is a logic block diagram of controlling the crane action according to an embodiment of the invention. Figure 4 The logic block diagram of determining and issuing an early warning signal in an embodiment of the invention, the crane anti-sway control device of the present invention comprises:

[0050] A feature acquisition module, comprising an image acquisition unit for acquiring a depth image of an underwater object to be lifted, a vibration detection unit for acquiring a vibration amplitude, and a flow velocity acquisition unit for acquiring an underwater flow velocity;

[0051] A lifting analysis module, which is connected to the feature acquisition module, and is used to construct a three-dimensional model of the underwater object to be lifted based on the depth image of the underwater object to be lifted, analyze the morphological differences of the underwater object to be lifted in different reference directions, calculate the fluid resistance difference characterization coefficient in combination with the weight of the object to be lifted, and determine the fluid resistance difference category of the underwater object to be lifted;

[0052] A lifting control module, which is connected to the feature acquisition module and the lifting analysis module respectively, and is used to control the crane action based on the difference category of the fluid resistance of the underwater object to be lifted, including:

[0053] Determine the moving speed of the crane according to the fluid resistance difference characterization coefficient, and calculate the moving stability characterization value based on the vibration amplitude and underwater flow velocity during the moving process of the crane to adjust the moving state of the crane;

[0054] Or, control the crane to maintain a reference moving speed.

[0055] Specifically, there is no limitation on the specific structure of the crane, as long as it can adjust the moving speed and complete underwater lifting. For example, it can be a bridge crane, a gantry crane, a tower crane, etc. Technical personnel in this field can determine it based on the work site, which will not be repeated here.

[0056] Specifically, there is no limitation on the form of the image acquisition unit, which only needs to be able to capture depth images. For example, it can be a depth image camera. As for its setting method, it can be set on the lifting hook of the crane to go deep underwater to capture the depth image of the object to be lifted. Technical personnel in this field can set the setting position according to their own needs, which will not be repeated here.

[0057] Specifically, there is no limitation on the detection method and specific structure of the vibration detection unit. The vibration detection unit can be any vibration sensor in the prior art that meets the requirements of the present invention. As for the setting position of the vibration detection unit, it can preferably be set on the boom of the crane. Of course, it can also be in other forms, which will not be elaborated here.

[0058] Specifically, there is no limitation on the collection device and collection method of the flow velocity collection unit. The flow velocity collection unit can be a Doppler flow meter. It only needs to be able to collect flow velocity and meet the requirements of the present invention. As for the setting position of the flow velocity collection unit, it can be preferably set on the lifting hook of the crane to facilitate the collection of underwater flow velocity.

[0059] Specifically, there is no limitation on the specific structures of the lifting analysis module and the lifting control module, which may be composed of logic components, including field programmable components, computers or microprocessors in computers.

[0060] Specifically, the lifting analysis module is used to analyze the shape difference of the underwater object to be lifted in different reference directions, including:

[0061] Used to determine the center of gravity of the three-dimensional model of the underwater object to be lifted;

[0062] Used to construct a number of reference planes passing through the center of gravity of the three-dimensional model of the underwater object to be lifted and perpendicular to the horizontal plane;

[0063] It is used to calculate the model volume difference on both sides of the reference plane after each reference plane cuts the three-dimensional model of the underwater object to be lifted;

[0064] The mean value of the calculated model volume difference is used as the morphological difference amount.

[0065] Specifically, there is no limitation on the method of constructing the three-dimensional model of the underwater object to be lifted. This is a prior art and will not be described in detail.

[0066] Specifically, there is no specific limitation on the method for determining the center of gravity of the three-dimensional model of the underwater object to be lifted. The volume of the three-dimensional model of the object to be lifted can be divided into many small volume elements, and then the mass and position of each volume element are integrated and calculated to finally obtain the center of gravity of the entire model. Other methods can also be used. This is the existing technology and will not be repeated here.

[0067] Specifically, there is no specific limit on the number of reference planes to be constructed, as long as the angles formed by the reference planes are the same. The preferred number is greater than 1.

[0068] Specifically, the model volume difference mean is calculated as the average value of the model volume differences on both sides of multiple reference planes.

[0069] Specifically, the lifting analysis module calculates the fluid resistance difference characterization coefficient according to formula (1):

[0070]

[0071] In formula (1), E represents the coefficient representing the difference in fluid resistance, D represents the amount of morphological difference, D0 represents the preset standard amount of morphological difference, M represents the weight of the object to be lifted, M0 represents the preset standard weight of the object to be lifted, α represents the weight coefficient of the amount of morphological difference, and β represents the weight coefficient of the weight of the object to be lifted.

[0072] The standard form difference is calculated in advance, wherein the standard form difference of different objects to be lifted can be calculated in advance, and the average standard form difference △D is solved, and D0=g×△D is set, g is the form difference accuracy coefficient, 1.1<g<1.3.

[0073] The standard weight of the object to be lifted is calculated in advance. The standard weight of different objects to be lifted can be calculated in advance, and the average standard weight of the object to be lifted △M is solved, and M0=h×△M is set, h is the weight accuracy coefficient, 1.15<h<1.3.

[0074] In this embodiment, α is 0.56 and β is 0.44.

[0075] The present invention calculates the fluid resistance difference characterization coefficient by calculating the difference in shape of the object to be lifted and the weight of the underwater object to be lifted. When the crane is lifting underwater, due to the irregular geometric shape of the underwater object to be lifted and the uneven fluid resistance, the object to be lifted will swing during the transportation process, causing the crane to vibrate, thereby leading to lifting failure, and heavy lifting objects will amplify the above-mentioned impact. Compared with small lifting objects, it is more difficult to determine the difference in shape of large lifting objects. During the transportation process, the contact with the water surface increases, and the fluid resistance it encounters increases. Therefore, the present invention considers the difference in shape of the underwater object to be lifted and the weight of the object to be lifted to calculate the fluid resistance difference characterization coefficient, characterizes the above-mentioned phenomenon, provides data support for the subsequent classification of fluid resistance difference categories, and then adaptively determines the lifting control module to select the control method for the transportation speed, thereby improving the safety and reliability of transportation.

[0076] Specifically, the lifting analysis module determines the difference categories of fluid resistance, including:

[0077] If the fluid resistance difference characterization coefficient is less than or equal to the reference resistance difference characterization coefficient, it is determined that the underwater object to be lifted belongs to the weak resistance difference category;

[0078] If the fluid resistance difference characterization coefficient is greater than the reference resistance difference characterization coefficient, it is determined that the underwater object to be lifted belongs to the strong resistance difference category.

[0079] Specifically, the benchmark resistance difference characterization coefficient E0 is selected within the interval [1.25, 1.35].

[0080] The present invention classifies fluid resistance differences into categories. In actual situations, a crane has a certain reference moving speed, and the underwater moving speed may be different from the land moving speed. In particular, when the underwater object to be lifted is in a category with a strong resistance difference, the object to be lifted may swing due to the uneven fluid resistance during the movement. At this time, an unreasonable moving speed may aggravate the above phenomenon, and then easily cause crane failure and affect the lifting safety. Therefore, the present invention adaptively determines the moving speed of the crane according to the fluid resistance difference characterization coefficient to improve the transportation safety and reliability.

[0081] Specifically, the lifting control module selects a control method for the moving speed including:

[0082] If the underwater object to be lifted belongs to the category of weak resistance difference, the lifting control module controls the crane to maintain the reference moving speed;

[0083] If the underwater object to be lifted belongs to the category of strong resistance difference, the lifting control module determines the moving speed of the crane according to the fluid resistance difference characterization coefficient, and calculates the moving stability characterization value based on the vibration amplitude of the crane during the movement of the crane and the underwater flow rate to adjust the moving state of the crane.

[0084] Specifically, the migration speed is an absolute speed, with the earth as the reference system.

[0085] Specifically, the determined migration velocity is negatively correlated with the coefficient representing the fluid resistance difference.

[0086] In an embodiment, optionally,

[0087] The fluid resistance difference characterization coefficient E is compared with the first fluid resistance difference characterization coefficient comparison threshold E1 and the second fluid resistance difference characterization coefficient comparison threshold E2,

[0088] If E>E2, the first migration speed V1 is determined, and V1=Ve×0.5;

[0089] If E1≤E≤E2, the second migration speed V2 is determined, and V2=Ve×0.65 is set;

[0090] If E<E1, the third migration speed V3 is determined, and V3=Ve×0.85 is set;

[0091] Among them, E1=1.25E0, E2=1.45E0, Ve represents the reference migration speed, 5m / min<Ve<15m / min.

[0092] Specifically, the transport stability characterization value is determined based on the vibration amplitude and underwater flow velocity of the crane during transport, and is calculated by formula (2):

[0093]

[0094] In formula (2), S represents the transport stability characterization value, V represents the vibration amplitude during the crane transport process, V0 represents the preset vibration amplitude during the crane transport process, F represents the underwater flow velocity during the crane transport process, F0 represents the preset standard underwater flow velocity during the crane transport process, a represents the vibration amplitude weight coefficient during the crane transport process, and b represents the underwater flow velocity weight coefficient during the crane transport process.

[0095] a=0.5, b=0.5.

[0096] The vibration amplitude of a standard crane during movement is calculated in advance, wherein the vibration amplitude of the crane during several normal movements can be recorded in advance, and the vibration amplitude △V is solved, and V0=n×△V is set, where n is the vibration amplitude accuracy coefficient, 1.05<n<1.25.

[0097] The underwater flow velocity during the movement of the standard crane is calculated in advance. The underwater flow velocity during the movement of the crane can be calculated in advance, and the underwater flow velocity △F during the average standard crane movement can be solved. Set F0=q×△F, q underwater flow velocity is the accuracy coefficient, 1.0<q<1.2.

[0098] Specifically, the present invention continuously detects the vibration amplitude and the underwater flow velocity migration stability characterization value during the transportation process. For underwater objects to be lifted with strong resistance difference, there is a high tendency for swinging during the transportation process, which will cause the crane to vibrate, and when the water flow velocity is high, the above phenomenon will be aggravated. Therefore, the present invention considers calculating the migration stability characterization value, timely adjusting the migration state of the crane, and improving the stability and reliability of the transportation.

[0099] Specifically, when the underwater object to be lifted is of a weak resistance difference category, the crane is controlled to maintain a reference moving speed to ensure the moving speed of the underwater object to be lifted, thereby ensuring the efficiency of the movement.

[0100] Specifically, the hoist control module determines the transport state based on the reference range to which the transport stability characterization value belongs;

[0101] Among them, a single benchmark range corresponds to a single migration state.

[0102] Specifically, the migration state includes stopping migration, maintaining migration speed and correcting migration speed, wherein:

[0103] Several ranges are determined using the benchmark transport stability characterization value S0;

[0104] If S>1.5S0, the crane stops moving operations;

[0105] If 1.1S0<S≤1.5S0, the crane will perform deceleration and movement operations;

[0106] If 0.9S0≤S≤1.1S0, the crane maintains the moving speed;

[0107] If S<0.9S0, the crane will perform accelerated transport operations;

[0108] Where S0 represents the benchmark transport stability characterization value, and S0 is selected within the interval [1.1,1.15].

[0109] Specifically, it also includes an early warning device connected to the lifting analysis module to issue an early warning signal based on the movement status of the crane, wherein:

[0110] If the moving state of the crane is to stop moving, the warning module sends out a warning signal.

[0111] Specifically, the warning module can be a voice announcer to send out a warning signal in voice form, which will not be described in detail.

[0112] Specifically, it also includes a display module, which is connected to the feature acquisition module to display the data collected by the feature acquisition module.

[0113] Specifically, the display device may be a touch display, which will not be described in detail.

[0114] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A crane anti-sway control device, characterized in that: include: A feature acquisition module, comprising an image acquisition unit for acquiring a depth image of an underwater object to be lifted, a vibration detection unit for acquiring a vibration amplitude, and a flow velocity acquisition unit for acquiring an underwater flow velocity; A lifting analysis module, which is connected to the feature acquisition module, and is used to construct a three-dimensional model of the underwater object to be lifted based on the depth image of the underwater object to be lifted, analyze the morphological differences of the underwater object to be lifted in different reference directions, calculate the fluid resistance difference characterization coefficient in combination with the weight of the object to be lifted, and determine the fluid resistance difference category of the underwater object to be lifted; A lifting control module, which is connected to the feature acquisition module and the lifting analysis module respectively, and is used to control the crane action based on the difference category of the fluid resistance of the underwater object to be lifted, including: Determine the moving speed of the crane according to the fluid resistance difference characterization coefficient, and calculate the moving stability characterization value based on the vibration amplitude and underwater flow velocity during the moving process of the crane to adjust the moving state of the crane; Or, control the crane to maintain a reference moving speed.

2. The crane anti-sway control device according to claim 1, characterized in that: The lifting analysis module is used to analyze the shape difference of the underwater object to be lifted in different reference directions, including: Used to determine the center of gravity of the three-dimensional model of the underwater object to be lifted; Used to construct a number of reference planes passing through the center of gravity of the three-dimensional model of the underwater object to be lifted and perpendicular to the horizontal plane; It is used to calculate the model volume difference on both sides of the reference plane after each reference plane cuts the three-dimensional model of the underwater object to be lifted; The mean value of the calculated model volume difference is used as the morphological difference amount.

3. The crane anti-sway control device according to claim 1, characterized in that: The lifting analysis module calculates the fluid resistance difference characterization coefficient according to formula (1): In formula (1), E represents the coefficient representing the difference in fluid resistance, D represents the amount of morphological difference, D0 represents the preset standard amount of morphological difference, M represents the weight of the object to be lifted, M0 represents the preset standard weight of the object to be lifted, α represents the weight coefficient of the amount of morphological difference, and β represents the weight coefficient of the weight of the object to be lifted.

4. The crane anti-sway control device according to claim 1, characterized in that: The lifting analysis module determines the difference categories of fluid resistance, including: If the fluid resistance difference characterization coefficient is less than or equal to the reference resistance difference characterization coefficient, it is determined that the underwater object to be lifted belongs to the weak resistance difference category; If the fluid resistance difference characterization coefficient is greater than the reference resistance difference characterization coefficient, it is determined that the underwater object to be lifted belongs to the strong resistance difference category.

5. The crane anti-sway control device according to claim 1, characterized in that: The control method selected by the lifting control module for the moving speed includes: If the underwater object to be lifted belongs to the category of weak resistance difference, controlling the crane to maintain the reference moving speed; If the underwater object to be lifted belongs to the category of strong resistance difference, the moving speed of the crane is determined according to the fluid resistance difference characterization coefficient, and the moving stability characterization value is calculated based on the vibration amplitude of the crane during movement and the underwater flow rate to adjust the moving state of the crane.

6. The crane anti-sway control device according to claim 1, characterized in that: The moving speed of the crane is determined according to the coefficient representing the difference in fluid resistance, Among them, the determined migration velocity is negatively correlated with the fluid resistance difference characterization coefficient.

7. The crane anti-sway control device according to claim 1, characterized in that: The transport stability characterization value is determined by the vibration amplitude of the crane during transport and the linear calculation result of the underwater flow velocity.

8. The crane anti-sway control device according to claim 1, characterized in that: The hoist control module determines the transport state based on the reference range to which the transport stability characterization value belongs; Among them, a single benchmark range corresponds to a single migration state; The transport state includes stopping transport, maintaining transport speed and correcting transport speed.

9. The crane anti-sway control device according to claim 1, characterized in that: It also includes an early warning module for issuing an early warning signal based on the movement status of the crane, wherein: If the moving state of the crane is to stop moving, the early warning module sends out an early warning signal.

10. The crane anti-sway control device according to claim 1, characterized in that: It also includes a display module for displaying the data collected by the feature collection module.

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