Iron tower overall lifting control method, device and equipment based on portal frame winch

Abstract

The invention relates to an iron tower overall lifting control method, device and equipment based on a portal frame winch, and the method comprises the steps: obtaining an initial signal fed back by a tilt angle sensor, and carrying out the filtering processing of the initial signal, and obtaining a filtered signal; determining the highest supporting point according to the filtered signal, and calculating height difference values between other supporting points in the lifting platform and the highest supporting point; controlling winches corresponding to other supporting points to work according to the height difference value, so that other supporting points are lifted to the same height as the highest supporting point. In the whole process, initial signals of inclination angles are collected based on the inclination angle sensors arranged in the mutually perpendicular directions, the initial signals are filtered, interference of abnormal signals is reduced, then a'chasing type 'leveling method is adopted, the highest supporting point is determined firstly, and then operation of the winch is controlled based on height difference values between other supporting points and the highest supporting point. And accurate lifting control can be realized.

Description

Technical Field

[0001] The present application relates to the field of intelligent control technology, and in particular to a method, device, computer equipment, storage medium and computer program product for controlling the overall lifting of an iron tower based on a gantry winch. Background Art

[0002] In the power, communication and other industries, iron towers are important supporting structures, and their maintenance, transformation and upgrading often require overall lifting operations. Traditional iron tower lifting methods often have problems such as complex operation, low efficiency and insufficient safety. In order to solve these problems, an iron tower overall lifting system based on a gantry winch came into being. The system is mainly composed of a gantry assembly, a clamp assembly and a gantry winch. During operation, the clamp assembly can tightly hold the original iron tower main material and achieve a reliable connection with the gantry through a pulley, thus forming a stable tower body lifting base fixing system. This system is not only compact in structure, but also has an effective lifting stroke of up to 12 meters, which greatly improves the operating efficiency.

[0003] The winch is connected to the clamp assembly through a set of 8-wheel pulleys, which further enhances the stability and load-bearing capacity of the system. In the design of the system, the fixed pulley and the gantry are also connected through a tension sensor. This design can monitor the tension load of the four legs and the load status of the entire gantry in real time, and feed this information back to the control system in real time, providing a strong guarantee for the safe operation of the system. At the same time, the winch is also connected to the ground anchor through a pull rod. The ground anchor is dug 2 to 3 meters deep according to the soil conditions, and the load reaches 20 tons, ensuring that there will be no displacement when the winch is under force, thereby further improving the stability and safety of the system.

[0004] However, in practical applications, the overall tower lifting system based on the gantry winch also faces some challenges. Since the system uses four pulley groups and clamps as support, it forms a four-point supported working plane. Although this structure can provide sufficient support force, it has the problem of static instability and is prone to "false support". That is, a certain leg may not be stressed or suspended in the air, resulting in uneven force on the winches at each point, which in turn affects the stability and safety of the system. Therefore, there is an urgent need for an accurate overall tower lifting control solution based on the gantry winch to ensure the stability and safety of the lifting system. Summary of the invention

[0005] Based on this, it is necessary to provide an accurate method, device, computer equipment, computer-readable storage medium and computer program product for controlling the overall lifting of the tower based on a gantry winch to address the above technical problems.

[0006] In a first aspect, the present application provides a method for controlling the overall lifting of an iron tower based on a gantry winch. The method comprises:

[0007] Acquire an initial signal fed back by a tilt sensor, wherein at least one tilt sensor is arranged in an X direction of the lifting platform, and at least one tilt sensor is arranged in a Y direction of the lifting platform, wherein the X direction and the Y direction are two directions perpendicular to each other;

[0008] Performing filtering on the initial signal to obtain a filtered signal;

[0009] Determine the highest support point according to the filtered signal, and calculate the height difference between other support points in the lifting platform and the highest support point;

[0010] The winch operation corresponding to other supporting points is controlled according to the height difference so that the other supporting points are lifted to the same height as the highest supporting point.

[0011] In one embodiment, determining the highest support point according to the filtered signal comprises:

[0012] Constructing a support plane reference coordinate system and a tilt sensor coordinate system, and determining a conversion relationship between the support plane reference coordinate system and the tilt sensor coordinate system;

[0013] Obtaining a tilt angle measurement value according to the filtered signal;

[0014] The tilt angle measurement value is used to represent the rotation matrix between the tilt sensor feedback coordinate system and the sensor coordinate system;

[0015] According to the transformation relationship and the rotation matrix, the coordinates of each support point in the reference coordinate system of the support plane after the height difference is generated with the inclined plane are calculated to obtain the coordinates of the target support point;

[0016] Based on the target support point coordinates, the highest support point is determined.

[0017] In one embodiment, the above-mentioned tower overall lifting control method based on the gantry winch also includes:

[0018] Determine the winch corresponding to the highest support point;

[0019] The winch corresponding to the highest supporting point is controlled to stop moving.

[0020] In one embodiment, filtering the initial signal to obtain a filtered signal includes:

[0021] The initial signal is filtered using a Kalman filter to obtain a filtered signal.

[0022] In one embodiment, the initial signal is filtered by Kalman filtering to obtain a filtered signal, which includes:

[0023] generating a sequence of the initial signals;

[0024] Initialize Kalman filter parameters;

[0025] The Kalman filter algorithm is used to iteratively process the sequence of the initial signal to obtain a filtered signal.

[0026] In one embodiment, controlling the operation of the winches corresponding to other supporting points according to the height difference so as to raise the other supporting points to the same height as the highest supporting point includes:

[0027] Obtaining the positions of the other supporting points in the support plane reference coordinate system and the positions of the winches corresponding to the other supporting points in the support plane reference coordinate system;

[0028] Determine the relative position relationship between other supporting points and corresponding winches;

[0029] According to the relative position relationship, the height difference is converted into the length of the hoisting machine operation stroke by using trigonometric functions;

[0030] The length of the hoisting machine's operating stroke is sent to the corresponding hoisting machine so that the other supporting points are lifted to the same height as the highest supporting point.

[0031] In a second aspect, the present application also provides a tower overall lifting control device based on a gantry winch. The device comprises:

[0032] A signal acquisition module, used to acquire an initial signal fed back by a tilt sensor, wherein at least one of the tilt sensors is arranged in an X direction of the lifting platform, and at least one of the tilt sensors is arranged in a Y direction of the lifting platform, wherein the X direction and the Y direction are two directions perpendicular to each other;

[0033] A filtering module, used for filtering the initial signal to obtain a filtered signal;

[0034] A height difference calculation module, used to determine the highest support point according to the filtered signal, and calculate the height difference between other support points in the lifting platform and the highest support point;

[0035] The control module is used to control the winch operation corresponding to other supporting points according to the height difference, so that the other supporting points are lifted to the same height as the highest supporting point.

[0036] In a third aspect, the present application further provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0037] Acquire an initial signal fed back by a tilt sensor, wherein at least one tilt sensor is arranged in an X direction of the lifting platform, and at least one tilt sensor is arranged in a Y direction of the lifting platform, wherein the X direction and the Y direction are two directions perpendicular to each other;

[0038] Performing filtering on the initial signal to obtain a filtered signal;

[0039] Determine the highest support point according to the filtered signal, and calculate the height difference between other support points in the lifting platform and the highest support point;

[0040] The winch operation corresponding to other supporting points is controlled according to the height difference so that the other supporting points are lifted to the same height as the highest supporting point.

[0041] In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0042] Acquire an initial signal fed back by a tilt sensor, wherein at least one tilt sensor is arranged in an X direction of the lifting platform, and at least one tilt sensor is arranged in a Y direction of the lifting platform, wherein the X direction and the Y direction are two directions perpendicular to each other;

[0043] Performing filtering on the initial signal to obtain a filtered signal;

[0044] Determine the highest support point according to the filtered signal, and calculate the height difference between other support points in the lifting platform and the highest support point;

[0045] The winch operation corresponding to other supporting points is controlled according to the height difference so that the other supporting points are lifted to the same height as the highest supporting point.

[0046] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0047] Acquire an initial signal fed back by a tilt sensor, wherein at least one tilt sensor is arranged in an X direction of the lifting platform, and at least one tilt sensor is arranged in a Y direction of the lifting platform, wherein the X direction and the Y direction are two directions perpendicular to each other;

[0048] Performing filtering on the initial signal to obtain a filtered signal;

[0049] Determine the highest support point according to the filtered signal, and calculate the height difference between other support points in the lifting platform and the highest support point;

[0050] The winch operation corresponding to other supporting points is controlled according to the height difference so that the other supporting points are lifted to the same height as the highest supporting point.

[0051] The above-mentioned tower overall lifting control method, device, computer equipment, storage medium and computer program product based on the gantry winch obtains the initial signal fed back by the inclination sensor, filters the initial signal to obtain the filtered signal; determines the highest support point according to the filtered signal, calculates the height difference between other support points and the highest support point in the lifting platform; controls the winch operation corresponding to other support points according to the height difference, so that other support points are lifted to the same height as the highest support point. In the whole process, the initial signal of the inclination is collected based on the inclination sensors set in perpendicular directions, the initial signal is filtered to reduce the interference of abnormal signals, and then the "chasing" leveling method is used to first determine the highest support point, and then the winch operation is controlled based on the height difference between other support points and the highest support point, so as to achieve accurate lifting control. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 It is a flow chart of a method for controlling the overall lifting of an iron tower based on a gantry winch in one embodiment;

[0053] Figure 2 It is a flow chart of a method for controlling the overall lifting of an iron tower based on a gantry winch in another embodiment;

[0054] Figure 3 A schematic diagram of a sub-flow chart of step S800 in an embodiment;

[0055] Figure 4 It is a structural block diagram of an iron tower integral lifting control device based on a gantry winch in one embodiment;

[0056] Figure 5 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0058] In one embodiment, Figure 1As shown, a tower overall lifting control method based on a gantry winch is provided, comprising the following steps:

[0059] S200: Acquire an initial signal fed back by an inclination sensor, wherein at least one inclination sensor is arranged in an X direction of the lifting platform, and at least one in a Y direction of the lifting platform, wherein the X direction and the Y direction are two directions perpendicular to each other.

[0060] At least one inclination sensor is set in the X direction and Y direction (two directions perpendicular to each other) of the tower lifting platform. These sensors can monitor the inclination angle of the platform in these two directions in real time, and feed back these inclination angles as initial signals to the control system. Here, the real-time inclination state of the lifting platform is obtained through the inclination sensor, providing basic data for subsequent signal processing and height adjustment.

[0061] S400: Filter the initial signal to obtain a filtered signal.

[0062] After the control system receives the initial signal fed back by the inclination sensor, it will filter it. The purpose of filtering is to remove noise and interference in the signal and obtain a more accurate and smooth filtered signal. Filtering the initial signal here can significantly improve the accuracy and reliability of the signal and provide an accurate data basis for the subsequent height difference calculation.

[0063] S600: Determine the highest support point according to the filtered signal, and calculate the height difference between other support points in the lifting platform and the highest support point.

[0064] Based on the filtered signal, the control system determines the current highest support point in the lifting platform. This is achieved by comparing the signal values ​​fed back by the sensors corresponding to each support point. Once the highest support point is determined, the control system calculates the height difference between the other support points in the lifting platform and this highest support point. These height differences reflect the degree of inclination of the platform at different support points. Here, by determining the highest support point and calculating the height difference, the inclination of the platform at different support points can be clearly determined, providing a basis for subsequent control strategies.

[0065] S800: Control the winch operation corresponding to other supporting points according to the height difference, so that the other supporting points are lifted to the same height as the highest supporting point.

[0066] The control system will formulate corresponding control strategies based on the calculated height difference. These strategies are designed to eliminate the height differences of the platform at different support points by adjusting the operating status of the winches corresponding to different support points. Specifically, the control system will send instructions to the winches corresponding to the support points that need to be lifted, so that they start working and lift the corresponding support points. At the same time, the control system will monitor the operating status of the winches and adjust their operating speed and strength as needed. By continuously adjusting and optimizing the control strategy, the control system can ensure that the lifting platform reaches the same height at each support point, thereby achieving overall smooth lifting. Here, by accurately controlling the operating status of the winch, the height differences of the platform at different support points are eliminated, and the smooth and synchronous lifting of the tower lifting platform is achieved.

[0067] The above-mentioned tower overall lifting control method based on the gantry winch obtains the initial signal fed back by the inclination sensor, filters the initial signal to obtain the filtered signal; determines the highest support point based on the filtered signal, calculates the height difference between other support points in the lifting platform and the highest support point; controls the winch operation corresponding to other support points based on the height difference, so that other support points are lifted to the same height as the highest support point. In the whole process, the initial signal of the inclination is collected based on the inclination sensors set in perpendicular directions to each other, the initial signal is filtered to reduce the interference of abnormal signals, and then the "chasing" leveling method is used to first determine the highest support point, and then the winch operation is controlled based on the height difference between other support points and the highest support point, so as to achieve accurate lifting control.

[0068] In one embodiment, if Figure 2 As shown, S600 includes:

[0069] S610: constructing a support plane reference coordinate system and an inclination sensor coordinate system, and determining a conversion relationship between the support plane reference coordinate system and the inclination sensor coordinate system.

[0070] Define a fixed reference coordinate system, which takes a fixed point of the lifting platform as the origin, the horizontal direction of the platform as the X-axis, and the vertical direction perpendicular to the horizontal direction as the Y-axis to construct the reference coordinate system of the lifting platform. For each inclination sensor, define a local sensor coordinate system according to its installation position and orientation. This coordinate system takes the installation point of the sensor as the origin and the sensitive direction of the sensor as a certain axis (such as the X-axis or the Y-axis) to construct the local coordinate system of the inclination sensor. Determine the transformation relationship between the support plane reference coordinate system and each inclination sensor coordinate system through measurement and calculation. This usually includes the calculation of the rotation matrix and the translation vector, which are used to transform the measurement values ​​in the sensor coordinate system into the support plane reference coordinate system.

[0071] Specifically, the coordinate system constructed here includes the support plane reference coordinate system and the inclination sensor coordinate system. The support plane reference coordinate system {p} is established on the tower platform plane to be adjusted, and the coordinates p of each support point (winch position) in the coordinate system are determined. i =(x i ,y i , 0), i is the support point number. At the same time, the transformation relationship between the sensor coordinate system {o} of the high-precision inclination sensor and the support plane reference coordinate system {p} is determined, including the position coordinate t=(x t0 ,y t0 ,0) T And the angle δ between the sensor coordinate system {o}x-axis and the support plane reference coordinate system {p}x-axis.

[0072] S620: Obtain a tilt angle measurement value according to the filtered signal.

[0073] Receive filtered signals from the inclination sensor, which represent the inclination angle measured by the sensor. Based on the inclination measurement, calculate the rotation matrix between the sensor feedback coordinate system and the sensor's initial installation coordinate system (or reference coordinate system). This rotation matrix describes the coordinate transformation caused by the inclination.

[0074] S630: Using the tilt measurement value to represent a rotation matrix between the tilt sensor feedback coordinate system and the sensor coordinate system.

[0075] The tilt angle measured by each tilt sensor (represented by a rotation matrix) is applied to its corresponding sensor coordinate system, and then these tilt angles are transformed into the lifting platform reference coordinate system using the previously determined transformation relationship.

[0076] S640: According to the transformation relationship and the rotation matrix, the coordinates of each support point in the support plane reference coordinate system after the height difference is generated along the inclined plane are calculated to obtain the coordinates of the target support point.

[0077] According to the converted inclination angle, the height difference of each support point on the inclined plane is calculated. Then, these height differences are applied to the corresponding support point coordinates in the lifting platform reference coordinate system to obtain the target support point coordinates.

[0078] Specifically, the rotation matrix o between the sensor feedback coordinate system {s} and the sensor coordinate system {o} is expressed using the tilt sensor measurement value r s = f(α, β). After calculating the height difference of each support point with the inclined plane according to the rotation matrix, the coordinate p in the support plane reference coordinate system {p} ir =p ro o rs pio +t.

[0079] S650: Determine the highest support point based on the target support point coordinates.

[0080] The highest support point is determined based on the coordinates of the target support point in the support plane reference coordinate system.

[0081] Specifically, the actual height h of each support point in the current tilt state can be calculated based on the tilt angle signals α and β transmitted by the two high-precision tilt sensors, combined with the pre-established coordinate system and conversion relationship. i =p ir (3) The heights h of all support points i Compare and find the maximum value h m ax. Among them, p ir (3) is the z-axis coordinate of each support point in the support plane reference coordinate system {p}, and t is the length of a control cycle.

[0082] S660: Calculate the height difference between other support points and the highest support point in the lifting platform.

[0083] For each supporting point corresponding to the other winches, calculate its current height h i With reference height h m The difference Δh of ax i =h max -h i .

[0084] In one embodiment, the above-mentioned tower overall lifting control method based on the gantry winch also includes:

[0085] Step 1: Determine the winch corresponding to the highest support point;

[0086] Step 2: Control the winch corresponding to the highest supporting point to stop moving.

[0087] Here, the winch corresponding to the highest supporting point is directly controlled to stop moving, that is, the winch maintains the current height, and the winches corresponding to other supporting points are adjusted, using a "chasing" leveling method to achieve efficient and precise leveling.

[0088] In one embodiment, filtering the initial signal to obtain a filtered signal includes:

[0089] The initial signal is filtered using the Kalman filter to obtain a filtered signal.

[0090] Here, Kalman filtering is used to filter the initial signal. Kalman filtering is a very effective recursive filter that can estimate the state of the system through a series of observations in the presence of noise. Through Kalman filtering, we can effectively remove noise and interference from the initial signal and obtain a filtered signal. This filtered signal is not only clearer, but also more accurate, and can better reflect the true state of the system.

[0091] In one embodiment, the initial signal is filtered by using a Kalman filter, and the filtered signal includes:

[0092] Step 1: Generate a sequence of initial signals.

[0093] This step is the preparation stage, ensuring all the data points to be filtered are available. This sequence can be a time series data from a tilt sensor.

[0094] Step 2: Initialize Kalman filter parameters.

[0095] Before applying the Kalman filter algorithm, some key filter parameters need to be initialized. These parameters usually include the state vector (variables describing the current state of the system), the state covariance matrix (a matrix describing the uncertainty of state estimation), the observation noise covariance matrix (a matrix describing the uncertainty of observation data), and the process noise covariance matrix (a matrix describing the dynamic uncertainty of the system). Specifically, when predicting the inclination value, A=1 and U(k)=0 are initially set in the formula; when predicting the inclination value, A=1 and U(k)=0 are initially set in the formula; X(k|k-1)=X(k-1|k-1).

[0096] Calculate the covariance of the predicted value, set by the above initial value, and rewrite the formula as follows:

[0097] P(k|k-1)=P(k-1|k-1)+Q;

[0098] Let H (observation noise covariance matrix) = 1 and update the Kalman coefficient.

[0099] k g (k)=P(k|k-1) / [P(k|k-1)+R];

[0100] Calculate the current optimal value and the covariance of the optimal value.

[0101] X(k|k)=X(k|k-1)+kg(k)[Z(k)-X(k|k-1)]

[0102] P(k|k)=[1-kg(k)]·P(k|k-1).

[0103] Step 3: Use the Kalman filter algorithm to iteratively process the sequence of the initial signal to obtain a filtered signal.

[0104] For each data point in the initial signal sequence, the prediction and update steps of the Kalman filter algorithm are applied. The prediction step involves predicting the next state based on the current state estimate and the dynamic model of the system. The update step involves using the new observations to correct the predicted state to obtain a more accurate state estimate. These two steps are iterated until all data points have been processed. In each iteration, the state estimate and the state covariance matrix are updated to reflect the new information. Finally, the sequence of state estimates after iterative processing is the filtered signal. This signal is smoother and less noisy than the initial signal, and is more able to reflect the true state of the system.

[0105] In one embodiment, if Figure 3 As shown, S800 includes:

[0106] S810: Obtain positions of other supporting points in the support plane reference coordinate system and positions of winches corresponding to other supporting points in the support plane reference coordinate system.

[0107] First, it is necessary to obtain the position coordinates of all other support points in the support plane reference coordinate system. This support plane reference coordinate system is pre-defined and used to uniformly describe the position of each point on the lifting platform. In addition, obtain the position coordinates of the winch corresponding to each support point in the support plane reference coordinate system. This information is usually obtained by measurement or pre-setting.

[0108] S820: Determine the relative position relationship between other supporting points and the corresponding winches.

[0109] With the position information of the support point and the winch, the relative position relationship between them can be determined. This usually involves calculating the straight-line distance, direction angle and other parameters between the support point and the corresponding winch. These relative position relationships will be used for subsequent stroke length calculation and winch control.

[0110] S830: Using trigonometric functions according to the relative position relationship, convert the height difference into the length of the winch operation stroke.

[0111] Based on the height difference calculated previously and the relative position relationship between the support point and the winch, trigonometric functions (such as sine, cosine, etc.) can be used to calculate the stroke length that the winch needs to operate. This stroke length refers to the length of the rope that the winch needs to lift in order to raise the support point to the same height as the highest support point. It should be noted that since the relative position relationship between the support point and the winch may be different, the stroke length required for each winch to operate may also be different.

[0112] S840: Send the length of the winch operation stroke to the corresponding winch, so that other support points are lifted to the same height as the highest support point.

[0113] The control system sends the calculated stroke length required for each winch to the corresponding winch. After receiving the command, the winch will perform the lifting operation according to the specified stroke length. During the operation, the control system can continuously monitor the feedback signal of the inclination sensor to ensure the smooth and safe lifting process. If necessary, the control system can also adjust and optimize the operation of the winch according to the actual situation.

[0114] In this embodiment, by obtaining position information, determining relative position relationship, calculating stroke length, and sending instructions, the embodiment achieves the goal of accurately controlling the operation of the winch according to the height difference to lift other support points to the same height as the highest support point. This method not only improves the accuracy and efficiency of lifting control, but also helps to ensure the stability and safety of the overall lifting of the tower.

[0115] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0116] Based on the same inventive concept, the embodiment of the present application also provides a gantry winch-based iron tower integral lifting control device for implementing the above-mentioned iron tower integral lifting control method based on a gantry winch. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in one or more embodiments of the gantry winch-based iron tower integral lifting control device provided below can refer to the above-mentioned limitations on the gantry winch-based iron tower integral lifting control method, which will not be repeated here.

[0117] In one embodiment, Figure 4 As shown, a tower integral lifting control device based on a gantry winch is provided, comprising:

[0118] The signal acquisition module 200 is used to acquire an initial signal fed back by a tilt sensor, wherein at least one tilt sensor is arranged in an X direction of the lifting platform, and at least one tilt sensor is arranged in a Y direction of the lifting platform, and the X direction and the Y direction are two directions perpendicular to each other;

[0119] The filtering module 400 is used to filter the initial signal to obtain a filtered signal;

[0120] A height difference calculation module 600 is used to determine the highest support point according to the filtered signal and calculate the height difference between other support points in the lifting platform and the highest support point;

[0121] The control module 800 is used to control the operation of the winches corresponding to other supporting points according to the height difference, so that the other supporting points are lifted to the same height as the highest supporting point.

[0122] In one of the embodiments, the height difference calculation module 600 is also used to construct a support plane reference coordinate system and an inclination sensor coordinate system, and determine the conversion relationship between the support plane reference coordinate system and the inclination sensor coordinate system; obtain the inclination measurement value based on the filtered signal; use the inclination measurement value to characterize the rotation matrix between the inclination sensor feedback coordinate system and the sensor coordinate system; calculate the coordinates of each support point in the support plane reference coordinate system after the height difference is generated with the inclined plane based on the conversion relationship and the rotation matrix, and obtain the target support point coordinates; based on the target support point coordinates, determine the highest support point.

[0123] In one of the embodiments, the control module 800 is further used to determine the winch corresponding to the highest supporting point; and control the winch corresponding to the highest supporting point to stop moving.

[0124] In one embodiment, the filtering module 400 is further configured to filter the initial signal using a Kalman filter to obtain a filtered signal.

[0125] In one embodiment, the filtering module 400 is further used to generate a sequence of initial signals; initialize Kalman filter parameters; and iteratively process the sequence of initial signals using a Kalman filter algorithm to obtain a filtered signal.

[0126] In one of the embodiments, the control module 800 is also used to obtain the positions of other support points in the support plane reference coordinate system and the positions of the winches corresponding to the other support points in the support plane reference coordinate system; determine the relative position relationship between the other support points and the corresponding winches; convert the height difference into the operating stroke length of the winch according to the relative position relationship using trigonometric functions; and send the operating stroke length of the winch to the corresponding winch so that the other support points are lifted to the same height as the highest support point.

[0127] Each module in the above-mentioned iron tower integral lifting control device based on the gantry winch can be fully or partially implemented by software, hardware and their combination. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0128] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 5 As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a tower integral lifting control method based on a gantry winch is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a key, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0129] Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0130] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the above-mentioned tower overall lifting control method based on the gantry winch is implemented.

[0131] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned tower overall lifting control method based on the gantry winch is implemented.

[0132] In one embodiment, a computer program product is provided, including a computer program, which, when executed by a processor, implements the above-mentioned tower overall lifting control method based on a gantry winch.

[0133] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0134] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0135] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A tower overall lifting control method based on a gantry winch, characterized in that: The method comprises: Acquire an initial signal fed back by a tilt sensor, wherein at least one tilt sensor is arranged in an X direction of the lifting platform, and at least one tilt sensor is arranged in a Y direction of the lifting platform, wherein the X direction and the Y direction are two directions perpendicular to each other; Performing filtering on the initial signal to obtain a filtered signal; Determine the highest support point according to the filtered signal, and calculate the height difference between other support points in the lifting platform and the highest support point; The winch operation corresponding to other supporting points is controlled according to the height difference so that the other supporting points are lifted to the same height as the highest supporting point.

2. The method according to claim 1, characterized in that: Determining the highest support point according to the filtered signal includes: Constructing a support plane reference coordinate system and a tilt sensor coordinate system, and determining a conversion relationship between the support plane reference coordinate system and the tilt sensor coordinate system; Obtaining a tilt angle measurement value according to the filtered signal; The tilt angle measurement value is used to represent the rotation matrix between the tilt sensor feedback coordinate system and the sensor coordinate system; According to the transformation relationship and the rotation matrix, the coordinates of each support point in the reference coordinate system of the support plane after the height difference is generated with the inclined plane are calculated to obtain the coordinates of the target support point; Based on the target support point coordinates, the highest support point is determined.

3. The method according to claim 1, characterized in that: The method further comprises: Determine the winch corresponding to the highest support point; The winch corresponding to the highest supporting point is controlled to stop moving.

4. The method according to claim 1, characterized in that The initial signal is filtered to obtain a filtered signal including: The initial signal is filtered using a Kalman filter to obtain a filtered signal.

5. The method according to claim 4, characterized in that The initial signal is filtered by Kalman filtering to obtain a filtered signal, which includes: generating a sequence of the initial signals; Initialize Kalman filter parameters; The Kalman filter algorithm is used to iteratively process the sequence of the initial signal to obtain a filtered signal.

6. The method according to claim 1, characterized in that The controlling the hoisting machine operation corresponding to other supporting points according to the height difference so as to raise the other supporting points to the same height as the highest supporting point comprises: Obtaining the positions of the other supporting points in the support plane reference coordinate system and the positions of the winches corresponding to the other supporting points in the support plane reference coordinate system; Determine the relative position relationship between other supporting points and corresponding winches; According to the relative position relationship, the height difference is converted into the length of the hoisting machine operation stroke by using trigonometric functions; The length of the hoisting machine's operating stroke is sent to the corresponding hoisting machine so that the other supporting points are lifted to the same height as the highest supporting point.

7. An iron tower integral lifting control device based on a gantry winch, characterized in that: The device comprises: A signal acquisition module, used to acquire an initial signal fed back by a tilt sensor, wherein at least one of the tilt sensors is arranged in an X direction of the lifting platform, and at least one of the tilt sensors is arranged in a Y direction of the lifting platform, wherein the X direction and the Y direction are two directions perpendicular to each other; A filtering module, used for filtering the initial signal to obtain a filtered signal; A height difference calculation module, used to determine the highest support point according to the filtered signal, and calculate the height difference between other support points in the lifting platform and the highest support point; The control module is used to control the winch operation corresponding to other supporting points according to the height difference, so that the other supporting points are lifted to the same height as the highest supporting point.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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