Multifunctional tower crane black box and self-adaptive control method and system

Abstract

The invention discloses a multifunctional tower crane black box and a self-adaptive control method and system, and relates to the technical field of tower crane hoisting operation. A pipeline swing model is established and trained, the inertia deflection index and deformation of an ith pipeline are predicted, and the possible deflection risk or structural deformation is predicted in advance; and intervention is carried out through a corresponding early warning mechanism. And constructing a synthetic rotation inertia coefficient by combining rotation data and wind load data in the rotation operation process of the tower crane and an inertia deflection index and an inertia moment of the pipeline. Dynamic inertia disturbance generated by superposition of rotation inertia and load swing is recognized, and a high-risk corner area is marked. And potential risks in the rotation process of the tower crane are evaluated, and a corresponding strategy is generated for dynamic adjustment. Particularly, under the condition that the wind load is large or the rotation angle is large, the system can adjust rotation operation in real time, and out-of-control hoisting or tower arm structure impact caused by unstable rotation motion is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of tower crane hoisting operations, and specifically to a multi-functional tower crane black box, an adaptive control method and a system. Background Art

[0002] In modern tower crane hoisting operations, especially when hoisting long-shaped objects such as pipes, accurate hoisting point positioning is crucial. Most traditional hoisting techniques rely on manual experience or simple calibration methods, which are prone to problems such as unstable hoisting and load yaw when facing complex environments and hoisting of special objects (such as pipes), thus bringing potential safety risks. Especially in double-point hoisting operations, how to accurately control the position, angle and load distribution of the hoisting points is the key to ensuring the smooth progress of the hoisting operation.

[0003] In double-point hoisting, the precise positioning of the two hoisting points is crucial for ensuring the balance of the object and controlling yaw. If the hoisting point positioning is inaccurate, it may not only cause the hoisted object to tilt or yaw, but also may cause the load on the tower crane to be unbalanced due to uneven load distribution, increasing the operating risk of the tower crane. Traditional methods often cannot monitor and adjust the position information of the double hoisting points in real time, resulting in unstable factors during the hoisting process, and even may lead to hoisting failure or dangerous accidents. In tower crane hoisting operations, especially when hoisting long-shaped objects such as pipes, a series of risks brought by the slewing action during the hoisting process cannot be ignored. During the hoisting process of traditional tower cranes, especially in double-point hoisting operations, the interaction of multiple factors such as inertia, wind load, hoisting point position, and object attitude during the slewing process is likely to cause risks such as yaw, load out-of-control, and tower arm structure impact. Especially in high wind speed environments, if not adjusted or warned in time during the slewing process, it may lead to dangerous accidents. Summary of the Invention

[0004] In view of the deficiencies of the prior art, the present invention provides a multi-functional tower crane black box, an adaptive control method and a system to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention is realized through the following technical solutions: A multi-functional tower crane black box, comprising: A data acquisition module, used to collect in real time the length of the i-th hoisted pipe, the radius of the pipe, and the mass in the construction space of the tower crane, establish a pipe data set, and construct the moment of inertia of each pipe; and the radius of the pipe and the mass , establish a pipe data set, and construct the moment of inertia of each pipe ; An inertial yaw analysis module, which is used to collect the attitude data, swing amplitude data, hoisting tension data and tower crane operation motion parameters of the pipeline during hoisting, and establish an attitude data set; establish and train a pipeline swing model, analyze the attitude data set to predict and obtain the inertial yaw index of the i-th pipeline and the deformation amount , and evaluate, trigger the corresponding warning instruction and generate the corresponding strategy; A synthetic rotational inertia identification module, which is used to collect the rotational data and wind load data during the tower crane slewing operation after the corresponding strategy is implemented, and combine the inertial yaw index of the i-th pipeline and the moment of inertia to construct a synthetic rotational inertia coefficient , and evaluate, identify the dynamic inertia disturbance area formed by the superposition of rotational inertia and load swing, mark it as a high-risk angle area, and generate and implement the corresponding strategy.

[0006] Preferably, the data acquisition module includes a first acquisition unit and a moment of inertia calculation unit; The first acquisition unit is used to collect and obtain the length of the i-th hoisted pipeline , the pipeline radius and the mass , and establish a pipeline data set; The moment of inertia calculation unit is used to calculate and obtain the moment of inertia through the following formula after dimensionless processing according to the pipeline data set : .

[0007] Preferably, the inertial yaw analysis module includes an attitude acquisition unit and an attitude analysis unit; The attitude acquisition unit is used to collect the position P1 of the first lifting point and the position P2 of the second lifting point of the i-th hoisting, and extract the distance from the first lifting point to the center of the pipeline according to the position P1 of the first lifting point and the position P2 of the second lifting point of the i-th hoisting and the distance from the second lifting point to the center of gravity of the pipeline ; Install a tension sensor or a load sensor on the sling, wire rope or lifting point connection part of the tower crane to collect and obtain the tension of the first lifting point and the tension of the second lifting point , and at the same time collect the length of the sling of the tower crane ; Collect the horizontal movement speed at the position of the first lifting point, the vertical movement speed at the position of the first lifting point, the horizontal movement speed at the position of the second lifting point, and the vertical movement speed at the position of the second lifting point and the angular velocity ω of the pipeline rotation to establish an attitude dataset; The attitude analysis unit uses a convolutional neural network to construct an initial convolutional neural network model, trains and tests the initial convolutional neural network model with the attitude dataset, and uses the trained initial convolutional neural network model as the pipeline swing model. At the same time, the intermediate layer output of the device operating state model is used as a feature vector to identify feature information, and the pipeline swing model is trained and tested with the obtained feature information. The trained pipeline swing model is used as a data operation prediction to construct the inertial yaw index of the i-th pipeline and the deformation .

[0008] Preferably, the inertial yaw index of the i-th pipeline and the deformation are specifically obtained as follows: S11. Extract the tensions of the double suspension points in the attitude dataset, and extract the tension of the first suspension point , the tension of the second suspension point , the distance from the first suspension point to the center of the pipeline and the distance from the second suspension point to the center of gravity of the pipeline , and calculate the offset of the resultant force action point of the suspension points relative to the center of gravity of the pipeline : If = 0, it means that the suspension point forces are completely balanced and the pipeline will not yaw. If , it means that the suspension point tensions are not equal, then the resultant force point will deviate from the center of gravity of the pipeline, resulting in a yaw effect; the greater the tension difference, the greater the offset of the resultant force point; If is greater than 0.2 m, a deviation warning message is triggered; S12. Establish and train a pipeline swing model. Considering the geometric characteristics of the pipeline and the change of the hoisting angle, extract the horizontal movement speed at the position of the first suspension point, the vertical movement speed at the position of the first suspension point, the horizontal movement speed at the position of the second suspension point, and the vertical movement speed at the position of the second suspension point. The instantaneous yaw angle is calculated and obtained through the following formula: In the formula, ε represents a positive number to prevent the denominator from being zero; ε = 1×10 −6 That is, ε = 0.000001; S13. Calculate the inertial yaw amplitudes of the pipeline in the horizontal and vertical directions based on its current state. and , the expressions are as follows: where, represents the rotational angular velocity of the pipeline; S14. Starting from the pipeline swing, calculate the swing period through the following formula : ; In the formula, is the acceleration due to gravity, set to 9.81 m / s²; represents the length of the suspension rope; S15. Next, combine the instantaneous yaw angle calculated in S12, and calculate the maximum offset radius of the pipeline through the following formula : where, this formula illustrates the maximum offset radius of the pipeline during hoisting, specifically determined by the length and yaw angle of the pipeline. The larger the yaw angle, the larger the offset radius; S16. Combine the inertial yaw amplitudes , , the swing period , the maximum offset radius , and calculate the inertial yaw index of the i-th pipeline through the following formula: S17. Finally, collect the deformation coefficient k of the pipeline material, the tension at the first lifting point, the tension at the second lifting point, and the offset of the resultant force action point of the lifting points relative to the pipeline center of gravity obtained in S11, predict the deformation amount of the pipeline during hoisting, predict that due to uneven force on the pipeline, deformation will occur, and use the following formula to obtain the deformation amount of the i-th hoisting: In the formula, k represents the deformation coefficient of the pipeline material; E represents the elastic modulus of the material; including: For pipelines made of stainless steel 304, the elastic modulus is 193 GPa, and the deformation coefficient k of the pipeline material is 0.0010 - 0.0012; The pipeline is made of carbon steel Q235, with an elastic modulus of 200 GPa, and the deformation coefficient k of the pipeline material is 0.0010; The pipeline is made of aluminum alloy 6061, with an elastic modulus of 69 GPa, and the deformation coefficient k of the pipeline material is 0.0015 - 0.0020; The pipeline is made of polyethylene PE, with an elastic modulus of 0.8 GPa, and the deformation coefficient k of the pipeline material is 0.22 - 0.05; The pipeline is made of polypropylene PP, with an elastic modulus of 1.5 GPa, and the deformation coefficient k of the pipeline material is 0.01 - 0.015; The pipeline is made of copper, with an elastic modulus of 110 GPa, and the deformation coefficient k of the pipeline material is 0.0018 - 0.0022; The pipeline of PVC, with an elastic modulus of 3 GPa, and the deformation coefficient k of the pipeline material is 0.005 - 0.01; The pipeline of fiberglass reinforced plastic FRP, with an elastic modulus of 15 - 25 GPa, and the deformation coefficient k of the pipeline material is 0.004 - 0.006.

[0009] Preferably, the inertial yaw analysis module further includes a first evaluation unit and a first strategy unit; The first evaluation unit is used to set a preset yaw threshold X and a deformation threshold Y, and compare the inertial yaw index and the deformation amount of the i-th pipeline with the deformation threshold Y and the deformation threshold Y to obtain a first evaluation result, including: When X and , it indicates that the hoisting state of the pipeline is stable, and the yaw amplitude and deformation are within the safe range, and continue the hoisting operation; When X and , it indicates that there is a yaw risk during the hoisting process of the pipeline, but the structural deformation is within the safe range, and trigger the first warning instruction; When X and , it indicates that the deformation of the pipeline exceeds the standard but there is no yaw risk, and there is a risk of uneven stress, and trigger the second warning instruction; When X and , it indicates that the pipeline has both yaw and structural deformation risks, and trigger the third warning instruction; The first strategy unit is used to receive the first warning instruction, the second warning instruction and the third warning instruction, and generate corresponding strategies, including: Generate a first strategy according to the first warning instruction, including: If the tension of the first lifting point and the tension of the second lifting point The tension difference is greater than 0.3 kN for more than 5 seconds. Pause the synchronization monitoring of the hoisting equipment, adjust the tensions of the two lifting points, reduce the tension difference by 10% - 15%. After the synchronous lifting of the synchronous lifting points, reduce the hoisting speed to 80% - 85% of the original speed. If the tension of the first lifting point and the tension of the second lifting point The tension difference does not exceed 0.3 kN. In stages, with an increase rate of 2% - 3% per stage, gradually restore to the original set tension; According to the second warning instruction, generate the second strategy, including: install 10% - 20% of the protective components at the pipe lifting point positions. If the tension of the first lifting point and the tension of the second lifting point The tension difference does not exceed 0.3 kN; According to the third warning instruction, generate the third strategy, including: immediately abort the hoisting, expand from double lifting points to three - point or multi - point hoisting, evenly distribute the tensions of each new lifting point according to 30% - 40% - 30% of the original total tension, install 21% - 30% of the protective components on the pipe, re - evaluate the hoisting path and sling configuration until X and After that, restart the hoisting operation.

[0010] Preferably, the synthetic rotational inertia identification module includes a slewing operation acquisition unit, a wind load acquisition unit, and a wind load calculation unit; The slewing operation acquisition unit is used to, during the i - th pipe process, real - time monitor the slewing data during the tower crane slewing operation. The slewing data includes the slewing speed of the tower arm , the slewing angle of the tower arm and the length of the tower arm ; The wind load acquisition unit is used to, during the i - th pipe process, real - time monitor the wind load data during the tower crane slewing operation. The wind load data includes: wind speed , air density and the wind - affected area of the i - th pipe ; The wind - affected area of the i - th pipe is obtained by multiplying the diameter and length of the i - th pipe; The wind load calculation unit is used to extract the wind speed , air density and the wind - affected area of the i - th pipe , after dimensionless processing, calculate and obtain the wind load through the following formula : In the formula, is the aerodynamic drag coefficient, including: when the plane is a square object perpendicular to the air flow direction, ; For cylindrical objects with horizontal airflow, 0; Wind load The 0.5 in is an aerodynamic constant, and 0.5 comes from the integral result of velocity distribution in fluid mechanics.

[0011] Preferably, the synthetic rotation inertia identification module further includes a second calculation unit; The second calculation unit is used to combine wind load , and extract the moment of inertia and the inertial runout index of the i-th pipe , after dimensionless processing, the synthetic rotational inertia coefficient is calculated by the following formula : In the formula, is the acceleration due to gravity, set to 9.81 m / s²; represents the moment of inertia; represents the gravity load, is the mass of the i-th pipeline; : Considering the influence of the rotation angle on the swing inertia, the larger the angle, the stronger the lateral inertial swing. Approaching 1 reflects an increase in risk; , indicating almost no rotation, this term tends to 0 and does not cause additional inertia; , indicating a large horizontal rotation, with the greatest inertial influence; It represents the hoisting gravity item, which indicates the relative proportion of gravity load to wind load. If the wind load is less than the gravity load, the system is stable, otherwise it will swing violently.

[0012] Preferably, the synthetic rotation inertia identification module further includes a second evaluation unit and a second strategy unit; The second evaluation unit is used to preset the inertia threshold Z and to calculate the rotational inertia coefficient Compare with the inertia threshold Z to obtain a second evaluation result, including: when When , it indicates that the current tower arm rotation state is within the safe range, and continuous rotation operation is allowed; when , indicating that the current tower arm rotation state is in the risk of rotation inertia superposition, triggering the fourth warning instruction, and marking the area corresponding to the current rotation angle as a potential disturbance angle area; when , indicating that there is a risk of load swinging out of control or tower arm structure impact during the current tower arm rotation state, triggering the fifth warning instruction and marking the area corresponding to the current rotation angle as a high-risk angle area; The second strategy unit is used to receive the fourth warning instruction and the fifth warning instruction and generate corresponding strategies, including: Generating a fourth strategy according to the fourth warning instruction, including: the hoisting system reduces the slewing speed of the tower arm by 60%-70% of the original speed; continuously monitors the wind speed , if the wind speed exceeds 6 m / s, indicating a sudden change in wind speed or a short-term gust area, then switch to the "wind disturbance suppression mode", suspend slewing until the wind speed does not exceed 6 m / s, and resume slewing operation; Generating a fifth strategy according to the fifth warning instruction, including: the hoisting operation enters the forced interruption process, activates the motor brake + hydraulic slowdown linkage mechanism of the tower crane, and gradually slows down the slewing at a deceleration rate of 40% - 60%; and marks that personnel are prohibited from entering this high-risk corner area for 10 minutes - 20 minutes, until the wind speed is lower than 4 m / s, the hoisting system reduces the slewing speed of the tower arm by 30%-40% of the original speed; if the current tower arm is slewing towards the high-risk area, immediately change the slewing direction, preferably slewing to the risk-free area, bypassing the high-risk corner area. If it is detected that the slewing direction is about to reverse, including from clockwise to counterclockwise, then delay starting the reverse for 2 - 3 seconds and then perform the slewing operation.

[0013] A multi-functional tower crane adaptive control method includes the following steps: Step 1: The hoisting pipeline acquisition module is used to continuously acquire the length , radius and mass of the i-th hoisted pipeline in the construction space of the tower crane, establish a pipeline data set, and construct the moment of inertia of each pipeline; Step 2: Acquire the attitude data, swing amplitude data, hoisting tension data and tower crane operation motion parameters collected during the hoisting of the pipeline, and establish an attitude data set; establish a pipeline swing model and train it, analyze the attitude data set to predict and obtain the inertial yaw index and deformation of the i-th pipeline, and evaluate, trigger the corresponding warning instruction and generate the corresponding strategy; Step 3: After implementing the corresponding strategy, acquire the slewing data and wind load data during the slewing operation of the tower crane, combine the inertial yaw index and moment of inertia of the i-th pipeline to construct a synthetic rotational inertia coefficient , and evaluate, identify the dynamic inertia disturbance area formed by the superposition of rotational inertia and load swing, mark it as the high-risk corner area, generate the corresponding strategy and implement it.

[0014] A multifunctional tower crane system includes a computer processor for loading and executing the warning instructions and corresponding strategies of the above-mentioned multifunctional tower crane black box.

[0015] The present invention provides a multifunctional tower crane black box, an adaptive control method and a system. It has the following beneficial effects: (1) For the multifunctional tower crane black box, adaptive control method and system, the data acquisition module collects information such as the length, radius, and mass of the pipeline in real time, establishes a pipeline data set, and constructs the moment of inertia of each pipeline. This can more accurately understand the physical properties of the hoisted object and provide accurate basic data for subsequent risk analysis and control. The inertial yaw analysis module collects the attitude data, swing amplitude data, hoisting tension data of the pipeline and the operating motion parameters of the tower crane during the hoisting process, establishes an attitude data set and conducts analysis. This module can accurately predict the inertial yaw index and deformation amount of the i-th pipeline, and timely evaluate and trigger warning instructions. This function effectively avoids dangerous situations such as excessive yaw during hoisting.

[0016] (2) For the multifunctional tower crane black box, adaptive control method and system, during the hoisting operation, the synthetic rotational inertia identification module combines the inertial yaw index and moment of inertia of the pipeline, analyzes the slewing data and wind load data, constructs a synthetic rotational inertia coefficient, and evaluates the possible dynamic inertial disturbances generated during the slewing of the tower crane. This system can real-time identify and mark high-risk angle areas, prevent the tower crane from entering high-risk areas, and thus avoid safety accidents caused by inertial superposition and load swing. The present invention can effectively avoid yaw and tower crane load imbalance caused by inaccurate positioning of the lifting point or uneven load by real-time collecting and monitoring the lifting point position, hoisting angle and load distribution. During the double-lifting-point hoisting operation, by real-time adjusting the lifting point position, the balance of the hoisted object is ensured, and the instability of the tower crane operation caused by uneven force is prevented.

[0017] (3) By calculating the offset of the resultant force action point of the lifting point relative to the center of gravity of the pipeline, the degree of the yaw effect can be accurately predicted. If the offset exceeds 0.2 meters, a warning message can be triggered to timely remind the operator to take countermeasures, thereby reducing the safety risk caused by yaw. One of the core functions of this method is to accurately calibrate the position of the control lifting point. By real-time monitoring the relationship between the lifting point position and the center of gravity of the pipeline, the yaw during the hoisting operation can be accurately controlled, ensuring that the tension and position of the lifting point are within a reasonable range, avoiding excessive yaw or unbalanced hoisting states, and thus effectively reducing the safety risk caused by yaw. This control method not only helps to accurately calibrate the position of the lifting point, but also can be adjusted in real time during the hoisting process to ensure the stability and safety of the pipeline hoisting operation. Brief Description of the Drawings

[0018] Figure 1 This is a schematic diagram of the block diagram process of a multi-functional tower crane black box according to the present invention; Figure 2 This is a schematic diagram of the steps of a multi-functional tower crane adaptive control method according to the present invention. Detailed Embodiments

[0019] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0020] Embodiment 1 Please refer to Figure 1 , the present invention provides a multi-functional tower crane black box, including: A data acquisition module, which is used to collect the length of the i-th hoisted pipeline, the pipeline radius , and mass in real time within the construction space of the tower crane, establish a pipeline data set, and construct the moment of inertia of each pipeline ; An inertial yaw analysis module, which is used to collect the attitude data, swing amplitude data, hoisting tension data and tower crane operation motion parameters collected during the hoisting process of the pipeline, and establish an attitude data set; establish a pipeline swing model and train it, analyze the attitude data set to predict and obtain the inertial yaw index and deformation of the i-th pipeline, and evaluate, trigger the corresponding warning instruction and generate the corresponding strategy; A synthetic rotational inertia identification module, which is used to collect the rotational data and wind load data during the tower crane slewing operation after the corresponding strategy is implemented, and combine the inertial yaw index and moment of inertia of the i-th pipeline to construct a synthetic rotational inertia coefficient , and evaluate, identify the dynamic inertial disturbance area formed by the superposition of the rotational inertia and the load swing, mark it as a high-risk angle area, generate the corresponding strategy and implement it.

[0021] In this embodiment, the data acquisition module establishes a pipeline data set by collecting information such as the length, radius, and mass of the pipeline in real time, and constructs the moment of inertia of each pipeline. This enables a more accurate understanding of the physical properties of the lifted object and provides accurate basic data for subsequent risk analysis and control. The inertial yaw analysis module collects the attitude data, swing amplitude data, lifting tension data of the pipeline during the lifting process, and the operating motion parameters of the tower crane, establishes an attitude data set and conducts analysis. This module can accurately predict the inertial yaw index and the deformation amount of the i-th pipeline, and timely evaluates and triggers a warning instruction. This function effectively avoids dangerous situations such as excessive yaw during the lifting process.

[0022] During the lifting operation, the synthetic rotational inertia identification module combines the inertial yaw index and the moment of inertia of the pipeline, analyzes the slewing data and the wind load data, constructs a synthetic rotational inertia coefficient, and evaluates the possible dynamic inertial disturbances generated during the slewing process of the tower crane. This system can identify and mark high-risk angle areas in real time, prevent the tower crane from entering high-risk areas, and thus avoid safety accidents caused by inertial superposition and load swing. Through real-time collection and monitoring of the hoisting point position, lifting angle, and load distribution, the present invention can effectively avoid yaw and unbalanced load of the tower crane caused by inaccurate positioning of the hoisting point or uneven load. In the double-hoisting-point lifting operation, by adjusting the hoisting point position in real time, the balance of the lifted object is ensured, and the unstable operation of the tower crane caused by uneven force is prevented.

[0023] Embodiment 2 This embodiment is an explanatory description based on Embodiment 1. Specifically, the data acquisition module includes a first acquisition unit and a moment of inertia calculation unit; The first acquisition unit is used to collect and obtain the length of the i-th lifted pipeline , the pipeline radius and the mass , and establish a pipeline data set; the first acquisition unit uses various sensors (such as laser rangefinders, gravity sensors, weighing sensors, etc.) to measure the physical parameters of the pipeline. For example, a laser rangefinder can measure the length of the pipeline, a weighing sensor can measure the mass of the pipeline in real time. In addition, a diameter sensor or an ultrasonic sensor can be used to obtain the pipeline radius data.

[0024] The moment of inertia calculation unit is used to calculate and obtain the moment of inertia through the following formula after dimensionless processing according to the pipeline data set : .

[0025] In this embodiment, through the first acquisition unit, the system can collect physical parameters such as the length, radius, and mass of the pipeline in real time and accurately. These data provide accurate basic data for subsequent moment of inertia calculation, attitude analysis, and risk assessment, ensuring the accuracy of the entire hoisting operation. By performing dimensionless processing on the pipeline data set, the system can eliminate the influence caused by differences in pipeline sizes and masses, achieving a unified standard for moment of inertia calculation. Accurate moment of inertia calculation enables the system to better evaluate risks such as yaw and uneven load distribution that may occur during hoisting, thus providing effective data support for the warning system. This can effectively prevent safety accidents caused by unstable object postures or excessive inertial forces.

[0026] Embodiment 3 This embodiment is an explanatory description based on Embodiment 1. Specifically, the inertial yaw analysis module includes an attitude acquisition unit and an attitude analysis unit; The attitude acquisition unit is used to collect the position P1 of the first lifting point and the position P2 of the second lifting point of the i-th hoisting, and extract the distance from the first lifting point to the center of the pipeline according to the position P1 of the first lifting point and the position P2 of the second lifting point of the i-th hoisting and the distance from the second lifting point to the center of gravity of the pipeline ; Install a tension sensor or a load sensor at the sling, wire rope, or lifting point connection part of the tower crane to collect and obtain the tension of the first lifting point and the tension of the second lifting point , and at the same time collect the length of the sling of the tower crane ; Collect the horizontal movement speed at the position of the first lifting point , the vertical movement speed at the position of the first lifting point , the horizontal movement speed at the position of the second lifting point , the vertical movement speed at the position of the second lifting point , and the pipeline rotation angular velocity w to establish an attitude data set; The attitude analysis unit uses a convolutional neural network to construct an initial convolutional neural network model, trains and tests the initial convolutional neural network model with the attitude data set, and uses the trained initial convolutional neural network model as the pipeline swing model. At the same time, it uses the intermediate layer output of the device operating state model as a feature vector to identify feature information, and trains and tests the pipeline swing model with the obtained feature information. The trained pipeline swing model is used for data operation prediction to construct the inertial yaw index and the deformation amount .

[0027] In this embodiment, the attitude acquisition unit accurately acquires the positions of the first lifting point (P1) and the second lifting point (P2) of the pipeline during the i-th lifting operation, and based on the positions of these two lifting points, extracts the distances of each lifting point relative to the center and the center of gravity of the pipeline. This data is crucial for analyzing the stress condition and yaw characteristics of the pipeline because the change in the lifting point position directly affects the stability of the object during the lifting process. Tension sensors or load sensors are installed at the sling ropes, wire ropes, or the connection parts of the lifting points of the tower crane to collect the tension data of each lifting point in real time. At the same time, these sensors also collect the lengths of the sling ropes of the tower crane, and this data can help monitor the load changes during the lifting process, thereby affecting the attitude adjustment of the pipeline. The attitude acquisition unit also collects the moving speeds of the first lifting point position and the second lifting point position through sensors, including the moving speeds in the horizontal and vertical directions. In addition, the rotational angular velocity w of the pipeline is also included in the data acquisition scope. These dynamic data reflect the shape and position of the pipeline during the lifting operation and can effectively monitor changes such as the yaw and rotation of the pipeline.

[0028] Embodiment 4 This embodiment is an explanatory description based on Embodiment 3. Specifically, the inertial yaw index and the deformation amount of the i-th pipeline are obtained in the following specific ways: S11. Extract the tensions of the double lifting points in the attitude dataset, extract the tension of the first lifting point , the tension of the second lifting point , the distance from the first lifting point to the center of the pipeline , and the distance from the second lifting point to the center of gravity of the pipeline , and calculate the offset of the resultant force action point of the lifting points relative to the center of gravity of the pipeline : If = 0, it means that the lifting point forces are completely balanced and the pipeline will not yaw. If , it means that the tensions of the lifting points are not equal, then the resultant force point will deviate from the center of gravity of the pipeline, resulting in a yaw effect; the greater the tension difference, the greater the offset of the resultant force point; If is greater than 0.2 m, then a deviation warning message is triggered; S12. Establish and train a pipeline swing model. Considering the geometric characteristics of the pipeline and the change in the lifting angle, extract the horizontal moving speed of the first lifting point position, the vertical moving speed of the first lifting point position, the horizontal moving speed of the second lifting point position, and the vertical moving speed of the second lifting point position, and calculate the instantaneous yaw angle through the following formula : In the formula, ε represents a positive number to prevent the denominator from being zero; ε = 1×10 −6 That is, ε = 0.000001; S13. Calculate the inertial yaw amplitudes in the horizontal and vertical directions of the pipeline according to its current state and , and the expressions are as follows: Wherein, represents the rotational angular velocity of the pipeline; S14. Starting from the pipeline swing, calculate the swing period through the following formula : ; In the formula, is the acceleration due to gravity, set to 9.81 m / s²; represents the length of the suspension rope; S15. Next, combine the instantaneous yaw angle calculated in S12, and calculate the maximum offset radius of the pipeline through the following formula: Wherein, this formula illustrates the maximum offset radius of the pipeline during hoisting, specifically determined by the length and yaw angle of the pipeline. The larger the yaw angle, the larger the offset radius; S16. Combine the inertial yaw amplitudes , , the swing period , and the maximum offset radius , and calculate the inertial yaw index of the i-th pipeline through the following formula: S17. Finally, collect the deformation coefficient k of the pipeline material, the tension of the first suspension point, the tension of the second suspension point, and the offset of the resultant force action point of the suspension points relative to the pipeline center of gravity obtained in S11, predict the deformation amount of the pipeline during hoisting, predict that uneven force on the pipeline will cause deformation, and use the following formula to obtain the deformation amount of the i-th hoisting: In the formula, k represents the deformation coefficient of the pipeline material; E represents the elastic modulus of the material, including: The pipeline made of stainless steel 304 has an elastic modulus of 193 GPa, and the deformation coefficient k of the pipeline material is 0.0010 - 0.0012; The pipeline made of carbon steel Q235 has an elastic modulus of 200 GPa, and the deformation coefficient k of the pipeline material is 0.0010; The pipeline made of aluminum alloy 6061 has an elastic modulus of 69 GPa, and the deformation coefficient k of the pipeline material is 0.0015 - 0.0020; The pipeline made of polyethylene PE has an elastic modulus of 0.8 GPa, and the deformation coefficient k of the pipeline material is 0.22 - 0.05; The pipeline made of polypropylene PP has an elastic modulus of 1.5 GPa, and the deformation coefficient k of the pipeline material is 0.01 - 0.015; The pipeline made of copper has an elastic modulus of 110 GPa, and the deformation coefficient k of the pipeline material is 0.0018 - 0.0022; The PVC pipeline has an elastic modulus of 3 GPa, and the deformation coefficient k of the pipeline material is 0.005 - 0.01; The FRP pipeline has an elastic modulus of 15 - 25 GPa, and the deformation coefficient k of the pipeline material is 0.004 - 0.006.

[0029] Data example: the length of the i-th hoisted pipeline ; Pipeline radius ; Mass ; The distance from the first suspension point to the center of the pipeline ; The distance from the second suspension point to the center of gravity of the pipeline ; Hoisting rope length ; Tension at the first suspension point ; Tension at the second suspension point ; Horizontal movement speed at the position of the first suspension point ; Vertical movement speed at the position of the first suspension point ; Horizontal movement speed at the position of the second suspension point ; Vertical movement speed at the position of the second suspension point ; Material deformation coefficient ; Substitute into the formula, moment of inertia : ; Substitute into the formula, the offset of the resultant force action point of the suspension point relative to the pipeline center of gravity : If is greater than 0.2m, then trigger the deviation warning information; judge whether there is yaw: =0.119<0.2, the deviation warning information is not triggered; Substitute into the formula, calculate the instantaneous yaw angle : Substitute into the formula, calculate the inertial yaw amplitude in the horizontal and vertical directions and , the expression is as follows: ; ; Substitute into the formula, calculate the swing period : In the formula, is the acceleration due to gravity, set to 9.81m / s²; represents the length of the suspension rope; Substitute into the formula, calculate the maximum offset radius of the pipeline : Substitute into the formula, calculate the inertial yaw index : Substitute into the formula, calculate the deformation of the i-th hoisting : ; The following is the preliminary safety judgment chart for each index: In this embodiment, by calculating the offset of the resultant force action point of the suspension point relative to the pipeline center of gravity, the degree of the yaw effect can be accurately predicted. If the offset exceeds 0.2 meters, a warning message can be triggered to timely remind the operator to take countermeasures, thereby reducing the safety risks caused by yaw. One of the core functions of this method is to accurately calibrate the position of the control suspension point. By real-time monitoring the relationship between the suspension point position and the pipeline center of gravity, the yaw during the hoisting operation can be precisely controlled to ensure that the tension and position of the suspension point are within a reasonable range, avoiding excessive yaw or unbalanced hoisting states, and thus effectively reducing the safety risks caused by yaw. This control method not only helps to accurately calibrate the position of the suspension point but also can be adjusted in real time during the hoisting process to ensure the stability and safety of the pipeline hoisting operation.

[0030] By establishing a pipeline swing model and combining the moving speed and rotational angular velocity of the suspension point position, the instantaneous yaw angle of the pipeline and its change are calculated in real time, thereby effectively monitoring the dynamic state of the pipeline and identifying potential safety hazards in advance.

[0031] By combining the inertial yaw amplitude, swing period, and maximum offset radius in the horizontal and vertical directions, the inertial yaw index can be accurately calculated, providing data support for the precise control of subsequent hoisting operations to ensure the balance and stability of the pipeline during hoisting. By combining the deformation coefficient of the pipeline material, the suspension point tension, and the offset of the resultant force action point, the possible deformation conditions of the pipeline during hoisting can be predicted. This function is crucial for ensuring the integrity of the pipeline and preventing hoisting failure caused by deformation. By accurately calculating the inertial yaw index and deformation amount of the pipeline, the hoisting strategy can be adjusted in real time during the hoisting process, thereby ensuring the smooth progress of the hoisting operation, reducing the accident risks caused by unstable factors, and improving the safety and efficiency of the overall operation.

[0032] Embodiment 5 This embodiment is explained in Embodiment 4. Specifically, the inertial yaw analysis module further includes a first evaluation unit and a first strategy unit; The first evaluation unit is used to set a preset yaw threshold X and a deformation threshold Y, and compare the inertial yaw index and the deformation amount of the i-th pipeline with the deformation threshold Y and the deformation threshold Y to obtain a first evaluation result, including: When X and , it indicates that the hoisting state of this pipeline is stable, and both the yaw amplitude and deformation are within the safe range, and the hoisting operation continues; When X and , indicating that there is a risk of yaw during the hoisting process of the pipeline, but the structural deformation is within the safe range, triggering the first warning instruction; When X and , indicating that the pipeline deformation exceeds the standard but there is no risk of yaw, there is a risk of uneven stress, triggering the second warning instruction; When X and , indicating that the pipeline has both yaw and structural deformation risks, triggering the third warning instruction; The first strategy unit is used to receive the first warning instruction, the second warning instruction and the third warning instruction, and generate corresponding strategies, including: Generate the first strategy according to the first warning instruction, including: if the tension difference between the first lifting point tension and the second lifting point tension is greater than 0.3 kN for more than 5 seconds, pause the synchronization of the hoisting monitoring equipment, adjust the tensions of the two lifting points, reduce the tension difference by 10%-15%, after the synchronous lifting points lift and lower synchronously, reduce the hoisting speed to 80%-85% of the original speed. If the tension difference between the first lifting point tension and the second lifting point tension does not exceed 0.3 kN, in stages, with an increase of 2% - 3% in each stage, gradually restore to the original set tension; Generate the second strategy according to the second warning instruction, including: install 10%-20% of the protective components at the pipeline lifting point positions. If the tension difference between the first lifting point tension and the second lifting point tension does not exceed 0.3 kN; Generate the third strategy according to the third warning instruction, including: immediately abort the hoisting, expand from double lifting points to three or more lifting points, evenly distribute the tensions of each new lifting point according to 30%-40%-30% of the original total tension, install 21%-30% of the protective components on the pipeline, re-evaluate the hoisting path and sling configuration until X and After that, restart the hoisting operation.

[0033] In this embodiment, the first strategy unit can generate a series of real-time and flexible response strategies by receiving warning instructions at different levels. For the first warning instruction, if the difference in sling tensions is greater than 0.3 kN for more than 5 seconds, the system will pause the lifting operation, conduct equipment synchronization checks, and adjust the tensions of the two slings to ensure the smooth progress of the lifting process. In addition, the lifting speed will be appropriately reduced according to the situation to ensure the stability of the entire lifting process. For the second warning instruction, if it is detected that the tension difference does not exceed the standard, the system will recommend installing 10%-20% protective components at the sling positions to increase safety and prevent accidents caused by unbalanced loads. If the third warning instruction appears, it means that the lifting operation is at serious risk. The system will immediately abort the lifting operation and recommend expanding from two slings to three or more slings for lifting to ensure uniform load distribution. In addition, the lifting path and sling configuration will be re-evaluated, and a larger proportion of protective components (21%-30%) will be installed until the lifting state returns to safety. By setting multiple strategies in the first strategy unit, the system can take flexible adjustment measures for different warning situations, thus avoiding major safety hazards during the lifting process. The specific measures include: dynamic adjustment of tension differences to effectively control the balance of loads during the lifting process; installation of protective components to enhance the stability of objects during the lifting process; expansion of the number of slings to disperse the lifting load and reduce the risk of lifting out of control. The implementation of these strategies can ensure that regardless of problems such as yaw, deformation, or uneven force during the lifting process, they can be quickly addressed, contributing to reducing safety accidents caused by unstable lifting operations.

[0034] Embodiment 6 This embodiment is an explanatory illustration based on Embodiment 1. Specifically, the synthetic rotational inertia identification module includes a slewing operation acquisition unit, a wind load acquisition unit, and a wind load calculation unit; The slewing operation acquisition unit is used to, during the i-th pipeline process, monitor in real time the slewing data during the slewing operation of the tower crane. The slewing data includes the slewing speed of the tower arm 、the slewing angle of the tower arm and the length of the tower arm ; The wind load acquisition unit is used to, during the i-th pipeline process, monitor in real time the wind load data during the slewing operation of the tower crane. The wind load data includes: wind speed 、air density and the windward area of the i-th pipeline ; The windward area of the i-th pipeline is obtained by multiplying the diameter and length of the i-th pipeline; The wind load calculation unit is used to extract the wind speed 、air density and the windward area of the i-th pipeline , after dimensionless processing, the wind load is calculated through the following formula : In the formula, is the aerodynamic drag coefficient, including: when the plane is a square object perpendicular to the air flow direction, ; when it is a cylindrical object in the cross-flow, 0; the 0.5 in the wind load is a constant of aerodynamics, and 0.5 comes from the integration result of the velocity distribution in fluid mechanics.

[0035] In this embodiment, the slewing operation acquisition unit monitors in real time the key data of the tower crane during the hoisting process, especially during the slewing operation stage, including the slewing speed of the tower arm, the slewing angle, and the length of the tower arm, etc. By accurately obtaining these data, the system can evaluate the inertial effects that may occur during the slewing of the tower crane, as well as the impact of the slewing action on the hoisted object (such as a pipeline). This real-time monitoring of slewing data helps to timely determine whether there are abnormal or unstable slewing behaviors of the tower crane during the hoisting process, thus providing data support for subsequent control strategies. The wind load acquisition unit monitors data such as wind speed, air density, and the windward area of the pipeline during the hoisting process, providing the necessary inputs for the calculation of the wind load. The wind load calculation unit calculates the specific value of the wind load through the formula after dimensionless processing of the collected wind speed, air density, and windward area. The calculation of the wind load can help evaluate the impact of the wind force on the object during the hoisting process. Especially in a high-wind-speed environment, the change of the wind force may have a greater impact on the stability of pipeline hoisting. By accurately calculating the wind load, the system can better evaluate the interference of the external environment on the hoisting operation. Especially under complex meteorological conditions, it can timely adjust the hoisting strategy to ensure the safety of the operation.

[0036] Embodiment 7 This embodiment is explained in Embodiment 6. Specifically, the combined rotational inertia identification module further includes a second calculation unit; The second calculation unit is used to combine the wind load and extract the moment of inertia and the inertial yaw index of the i-th pipeline . After dimensionless processing, the combined rotational inertia coefficient is calculated through the following formula : In the formula, is the acceleration due to gravity, set to 9.81 m / s²; represents the moment of inertia; represents the gravity load, is the mass of the i-th pipeline; : Considering the influence of the rotation angle on the swing inertia, the larger the angle, the stronger the lateral inertial swing. Approaching 1 reflects an increase in risk; , indicating almost no rotation, this term tends to 0 and does not cause additional inertia; , indicating a large horizontal rotation, with the greatest inertial influence; Indicates the hoisting gravity term, which indicates the relative ratio of gravity load to wind load. If the wind load is less than the gravity load, the system is stable, otherwise it will swing violently. It is used to measure the degree of interference of wind on hoisting stability; It represents the inertial swing term, which indicates the intensity of the rotational inertial swing caused by the tower crane rotation, taking into account the rotation speed, moment of inertia, tower arm length and rotation angle. The larger the angle, the stronger the swing, and the more likely it is to have inertial disturbance. The inertial swing index of the i-th pipeline , used to reflect the sensitivity of pipeline shape, weight distribution, etc. to deflection, and is a preset structural characteristic coefficient or calculated through a model. The larger the value, the more likely it is to deflect; the dynamic hoisting inertia risk index finally evaluated, the larger the value, the higher the hoisting risk under the current combination (such as easy deflection of the pipeline, high wind speed, violent rotation amplitude, etc.), which can be used to trigger high-risk warnings or auxiliary control strategies.

[0037] The larger the wind load → the denominator The larger it is → the first term becomes smaller → the more violent the swing; The faster the rotation speed and the larger the angle, the greater the inertia term, and the more significant the swing effect. Long and heavy pipes (high ,high ) → makes the whole improve; This coefficient combines static stability (gravity vs. wind) and dynamic disturbance (inertia + rotation angle) as an evaluation indicator for the dynamic lifting safety threshold.

[0038] In this embodiment, the second calculation unit combines wind load, moment of inertia and inertia yaw index, and calculates the synthetic rotational inertia coefficient through dimensionless processing and comprehensive formula. This coefficient combines static stability (such as the comparison between gravity and wind load) and dynamic disturbance (such as the influence of rotation angle and inertia), thereby providing a comprehensive safety assessment index for hoisting operations. By comprehensively considering the influence of wind load, rotation angle, object inertia and tower crane rotation, this embodiment can perform a multi-dimensional assessment of the risks that may occur in hoisting operations, especially in complex environments, such as high wind speed, violent rotation and other situations, providing more accurate risk prediction.

[0039] Example 8 This embodiment is explained in Embodiment 7. Specifically, the synthetic rotational inertia identification module further includes a second evaluation unit and a second strategy unit; The second evaluation unit is configured to preset an inertia threshold Z and compare the rotational inertia coefficient with the inertia threshold Z to obtain a second evaluation result, including: When , it indicates that the current slewing state of the tower arm is within the safe range, and continuous slewing operation is allowed; When , it indicates that there is a risk of rotational inertia superposition in the current slewing state of the tower arm, triggering a fourth warning instruction, and marking the area corresponding to the current slewing angle as the potential disturbance angle area; When , it indicates that there is a risk of causing out-of-control load swing or tower arm structure impact during the current slewing state of the tower arm, triggering a fifth warning instruction, and marking the area corresponding to the current slewing angle as the high-risk angle area; The second strategy unit is configured to receive the fourth warning instruction and the fifth warning instruction and generate corresponding strategies, including: Generating a fourth strategy according to the fourth warning instruction, including: the hoisting system reduces the slewing speed of the tower arm by 60%-70% of the original speed; real-time monitoring of the wind speed , if the wind speed exceeds 6 m / s, indicating a sudden change in wind speed or a short-term gust area, then switch to the "wind disturbance suppression mode" and pause slewing until the wind speed does not exceed 6 m / s and resume slewing operation; Generating a fifth strategy according to the fifth warning instruction, including: the hoisting operation enters the forced interruption process, starts the motor brake + hydraulic slow-down linkage mechanism of the tower crane, and gradually slows down the slewing at a deceleration rate of 40% - 60%; and marks that personnel are prohibited from entering the high-risk angle area for 10 minutes - 20 minutes. After that, until the wind speed is lower than 4 m / s, the hoisting system reduces the slewing speed of the tower arm by 30%-40% of the original speed; if the current tower arm is slewing towards the high-risk area, immediately change the slewing direction, preferably slewing to the risk-free area, bypassing the high-risk angle area. If it is detected that the slewing direction is about to reverse, including from clockwise to counterclockwise, then delay starting the reverse for 2 - 3 seconds and then perform the slewing operation.

[0040] In this embodiment, this embodiment forms a well-structured and responsive safety protection system through the combination of multiple safety mechanisms such as slewing speed adjustment, real-time wind speed monitoring, slewing direction control, and personnel prohibition from entering high-risk areas. This can not only avoid safety hazards caused by factors such as wind speed changes and excessive slewing angles, but also effectively ensure the safety of personnel and equipment.

[0041] Through the dynamic response and precise control of the system, the risks of hoisting operations are significantly reduced. Especially under complex weather conditions or dynamic changes during the slewing process, the hoisting operations can still maintain a high level of safety. · Through timely risk identification and strategy adjustment, the unstable factors during the operation process are effectively suppressed, and the hoisting operations can proceed more stably, avoiding operation interruptions or structural damages caused by unexpected factors.

[0042] The system can provide more accurate operation guidance for the operators based on real-time data and dynamic risk assessment, improving the efficiency and safety of hoisting operations.

[0043] Embodiment 9 Please refer to Figure 2 , a multi-functional tower crane adaptive control method, comprising the following steps: Step 1, a hoisting pipeline acquisition module, used to collect the length of the i-th hoisted pipeline, the pipeline radius and mass in real time within the construction space of the tower crane, establish a pipeline data set, and construct the moment of inertia of each pipeline ; ; Step 2, collect the attitude data, swing amplitude data, hoisting tension data and tower crane operation motion parameters collected during the hoisting process of the pipeline, and establish an attitude data set; establish and train a pipeline swing model, analyze the attitude data set to predict and obtain the inertial yaw index and deformation of the i-th pipeline, and evaluate, trigger corresponding warning instructions and generate corresponding strategies; Step 3, after implementing the corresponding strategy, collect the slewing data and wind load data during the slewing operation of the tower crane, combine with the inertial yaw index and moment of inertia of the i-th pipeline to construct a synthetic rotational inertia coefficient , and evaluate, identify the dynamic inertia disturbance area formed by the superposition of slewing inertia and load swing, mark it as a high-risk angle area, generate corresponding strategies and implement them.

[0044] In this embodiment, in Step 1, by collecting the physical parameters of the pipeline (such as pipeline length, radius and mass) in real time within the construction space of the tower crane and establishing a pipeline data set, accurate basic data is provided for subsequent hoisting operations. The key to this process lies in constructing the moment of inertia of each pipeline to accurately describe the mass distribution and morphological characteristics of the pipeline. Through these data, personalized analysis and prediction of the pipeline can be realized, ensuring that subsequent hoisting operations can be judged based on real and dynamic data. The beneficial effect of this link is that it can ensure the accuracy of the initial data for pipeline hoisting, providing a basis for subsequent attitude analysis and The core of Step 2 lies in using the attitude data, swing amplitude data, hoisting tension data, etc. collected during the pipeline hoisting process to establish and train a pipeline swing model, so as to analyze and predict the inertial yaw index and deformation of the i-th pipeline. The beneficial effect of this step is that it can monitor various unstable factors during the pipeline hoisting process in real time, predict possible yaw risks or structural deformations in advance, and intervene through corresponding warning mechanisms. This data-driven analysis method greatly improves the intelligence and accuracy of the hoisting process, avoids the traditional risk assessment mode relying on manual experience, and improves the safety and reliability of the hoisting operation.

[0045] Step 3 combines the slewing data and wind load data during the tower crane slewing operation, as well as the inertial yaw index and moment of inertia of the pipeline, to construct a synthetic rotational inertia coefficient. Through the calculation of this coefficient, the system can identify the dynamic inertial disturbances generated by the superposition of slewing inertia and load swing, and mark the high-risk angle areas. The beneficial effect of this step is that it can accurately evaluate the potential risks during the tower crane slewing process and generate corresponding strategies for dynamic adjustment. Especially in the case of large wind loads or large slewing angles, the system can adjust the slewing operation in real time to avoid hoisting out of control or tower arm structure impact caused by unstable slewing motion, greatly improving the safety and stability of the hoisting operation.

[0046] A multifunctional tower crane system includes a computer processor for loading and executing the warning instructions and corresponding strategies of the above-mentioned multifunctional tower crane black box.

[0047] The setting of the threshold value is for the convenience of comparison. Regarding the size of the threshold value, it depends on the amount of sample data and the base quantity set by those skilled in the art for each group of sample data; as long as it does not affect the proportional relationship between the parameters and the quantified values.

[0048] The above formulas are all obtained by collecting a large amount of data for software simulation and selecting a formula close to the true value. The coefficients in the formulas are set by those skilled in the art according to the actual situation. As mentioned above, the above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A multifunctional tower crane black box, characterized in that Including: The data acquisition module is used to collect in real time the length of the pipeline hoisted for the i-th time in the tower crane construction space , the pipeline radius and the mass , establish a pipeline data set, and construct the moment of inertia of each pipeline ; An inertial yaw analysis module, which is used to collect attitude data, swing amplitude data, hoisting tension data, and tower crane operation motion parameters of the pipeline during hoisting, and establish an attitude data set; establish and train a pipeline swing model, analyze the attitude data set to predict and obtain the inertial yaw index of the i-th pipeline and deformation , and evaluate, trigger corresponding warning instructions and generate corresponding strategies; A synthetic rotational inertia identification module, which is used to collect rotational data and wind load data during the slewing operation of the tower crane after the corresponding strategy is implemented, and combines the inertia yaw index of the i-th pipeline and the moment of inertia to construct a synthetic rotational inertia coefficient , and evaluate and identify the dynamic inertia disturbance area formed by the superposition of rotational inertia and load swing, mark it as a high-risk angle area, generate the corresponding strategy and implement it.

2. The multifunctional tower crane black box according to claim 1, characterized in that, The data acquisition module includes a first acquisition unit and a moment of inertia calculation unit; The first acquisition unit is used to acquire the length of the i-th hoisted pipeline , the pipeline radius and the mass , and establish a pipeline data set; The moment of inertia calculation unit is used to calculate and obtain the moment of inertia according to the pipeline data set after dimensionless processing through the following formula :[[]]END]] 。 3. The multifunctional tower crane black box according to claim 2, characterized in that, The inertial yaw analysis module includes an attitude acquisition unit and an attitude analysis unit; The attitude acquisition unit is configured to collect the position P1 of the first lifting point and the position P2 of the second lifting point of the i-th lifting, and extract the distance from the first lifting point to the center of the pipeline according to the position P1 of the first lifting point and the position P2 of the second lifting point of the i-th lifting and the distance from the second lifting point to the center of gravity of the pipeline ; Install a tension sensor or a load sensor on the sling, wire rope or connection part of the lifting point of the tower crane to collect and obtain the tension of the first lifting point and the tension of the second lifting point , and at the same time collect the length of the sling of the tower crane ; Collect the horizontal movement speed of the first lifting point and the vertical movement speed of the first lifting point and the horizontal movement speed of the second lifting point and the vertical movement speed of the second lifting point and the pipeline rotation angular velocity w to establish an attitude dataset; The attitude analysis unit uses a convolutional neural network to construct an initial convolutional neural network model, trains and tests the initial convolutional neural network model with an attitude data set, and uses the trained initial convolutional neural network model as a pipeline swing model. At the same time, the intermediate layer output of the device operating state model is used as a feature vector to identify feature information, and the pipeline swing model is trained and tested with the obtained feature information. The trained pipeline swing model is used for data operation prediction to construct the inertial yaw index of the i-th pipeline and the deformation amount .

4. The multifunctional tower crane black box according to claim 3, characterized in that, The inertial yaw index of the i-th pipeline and the deformation amount The specific acquisition method is as follows: S11. Extract the tensions of the two lifting points in the attitude dataset, and extract the tension of the first lifting point , the tension of the second lifting point , the distance from the first lifting point to the center of the pipeline and the distance from the second lifting point to the center of gravity of the pipeline , and calculate the offset of the resultant force action point of the lifting point relative to the center of gravity of the pipeline : If = 0, it means that the suspension point forces are completely balanced and the pipeline will not undergo yaw. If , it means that the suspension point tensions are not equal, then the resultant force point will deviate from the pipeline's center of gravity, resulting in a yaw effect; the greater the tension difference, the greater the offset of the resultant force point; If is greater than 0.2 m, a deviation warning message is triggered; S12. Establish a pipeline swing model and train it. Considering the geometric characteristics of the pipeline and the change of the hoisting angle, extract the horizontal movement speed of the first lifting point position , the vertical movement speed of the first lifting point position , the horizontal movement speed of the second lifting point position , the vertical movement speed of the second lifting point position , and obtain the instantaneous yaw angle through the following formula : In the formula, ε represents a positive number to prevent the denominator from being zero; ε = 1×10 −6 That is, ε = 0.000001; S13. Calculate the inertial yaw amplitudes in the horizontal and vertical directions based on the current state of the pipeline and , and the expressions are as follows: Among them, is expressed as the angular velocity of the pipe rotation; S14. Starting from the pipe swing, calculate the swing period using the following formula :[[]]END]] ； In the formula, is the acceleration due to gravity, set to 9.81 m / s²; represents the length of the suspension rope; S15. Next, combine with the instantaneous yaw angle calculated in S12 , and calculate the maximum offset radius of the pipeline through the following formula : Among them, this formula illustrates the radius of the maximum offset during the hoisting process of the pipeline, which is specifically determined by the length and yaw angle of the pipeline. The larger the yaw angle, the larger the offset radius; S16. Combine the inertial yaw amplitudes in the horizontal and vertical directions , , the swing period , the maximum offset radius , and calculate the inertial yaw index of the i-th pipe through the following formula : S17. Finally, collect the deformation coefficient k of the pipeline material, the tension of the first lifting point , the tension of the second lifting point and the offset of the resultant force action point of the lifting point obtained in S11 relative to the pipeline center of gravity , predict the deformation amount of the pipeline during hoisting, and predict that uneven force on the pipeline will cause deformation. Use the following formula to obtain the deformation amount of the i-th hoisting : In the formula, k represents the deformation coefficient of the pipeline material; E represents the elastic modulus of the material; including: Pipes made of stainless steel 304, with an elastic modulus of 193 GPa and a deformation coefficient k of the pipeline material = 0.0010 - 0.0012; Pipes made of carbon steel Q235, with an elastic modulus of 200 GPa and a deformation coefficient k of the pipeline material = 0.0010; Pipes made of aluminum alloy 6061, with an elastic modulus of 69 GPa and a deformation coefficient k of the pipeline material = 0.0015 - 0.0020; Pipes made of polyethylene PE, with an elastic modulus of 0.8 GPa and a deformation coefficient k of the pipeline material = 0.22 - 0.05; Pipes made of polypropylene PP, with an elastic modulus of 1.5 GPa and a deformation coefficient k of the pipeline material = 0.01 - 0.015; Pipes made of copper, with an elastic modulus of 110 GPa and a deformation coefficient k of the pipeline material = 0.0018 - 0.0022; Pipes made of PVC, with an elastic modulus of 3 GPa and a deformation coefficient k of the pipeline material = 0.005 - 0.01; Pipes made of fiberglass FRP, with an elastic modulus of 15 - 25 GPa and a deformation coefficient k of the pipeline material = 0.004 - 0.

006.

5. A multifunctional tower crane black box according to claim 4, characterized in that, The inertial yaw analysis module further includes a first evaluation unit and a first strategy unit; The first evaluation unit is used to set a preset yaw threshold X and a deformation threshold Y, and compare the inertial yaw index and the deformation amount of the i-th pipeline with the deformation threshold Y and the deformation threshold Y to obtain a first evaluation result, including: When X and , it indicates that the hoisting state of the pipeline is stable, and the yaw amplitude and deformation are within the safe range, and the hoisting operation can continue; When X and , it indicates that there is a risk of yaw during the pipeline hoisting process, but the structural deformation is within the safe range, triggering the first warning instruction; When X and , it indicates that the pipeline deformation exceeds the standard but there is no risk of yaw, and there is a risk of uneven stress, triggering the second warning instruction; When X and , it indicates that there are risks of yaw and structural deformation in the pipeline at the same time, triggering the third warning instruction; The first strategy unit is used to receive the first warning instruction, the second warning instruction and the third warning instruction, and generate corresponding strategies, including: Generate the first strategy according to the first warning instruction, including: if the tension difference between the first lifting point tension and the second lifting point tension is greater than 0.3 kN for more than 5 seconds, suspend the synchronization of the lifting monitoring equipment, adjust the tensions of the two lifting points, reduce the tension difference by 10%-15%, and after the synchronous lifting points lift and lower synchronously, reduce the lifting speed to 80%-85% of the original speed. If the tension difference between the first lifting point tension and the second lifting point tension does not exceed 0.3 kN, in stages, with an increase rate of 2% - 3% per stage, gradually restore to the original set tension; Generate a second strategy according to the second warning instruction, including: installing 10%-20% of protective components at the pipe sling point, if the tension difference between the first sling point tension and the second sling point tension does not exceed 0.3 kN; Generate the third strategy according to the third warning instruction, including: immediately abort the hoisting, expand from double lifting points to three or more lifting points, evenly distribute the tensions of each new lifting point according to 30% - 40% - 30% of the original total tension, install 21% - 30% of the protective components on the pipeline, re-evaluate the hoisting path and sling configuration until X and After that, resume the hoisting operation.

6. The multi-functional tower crane black box according to claim 1, characterized in that, The synthetic rotational inertia identification module includes a slewing operation acquisition unit, a wind load acquisition unit and a wind load calculation unit; The slewing operation acquisition unit is used to monitor the slewing data in real time during the slewing operation of the tower crane in the i-th pipeline process. The slewing data includes the slewing speed of the tower arm , the slewing angle of the tower arm and the length of the tower arm ; The wind load acquisition unit is used to monitor the wind load data in real time during the slewing operation of the tower crane in the i-th pipeline process. The wind load data includes: wind speed , air density and the windward area of the i-th pipeline ; The windward area of the i-th pipeline is obtained by multiplying the diameter and length of the i-th pipeline; The wind load calculation unit is used to extract the wind speed , air density and the windward area of the i-th pipeline . After dimensionless processing, the wind load is calculated through the following formula : In the formula, is the aerodynamic drag coefficient, including: when the plane is a square object perpendicular to the air flow direction, ; when the object is a cylindrical object with cross-flow, 0; the 0.5 in the wind load is an aerodynamic constant, and 0.5 comes from the integration result of the velocity distribution in fluid mechanics.

7. A multifunctional tower crane black box according to claim 6, characterized in that, The synthetic rotational inertia identification module further includes a second calculation unit; The second calculation unit is used to combine the wind load , and extract the moment of inertia and the inertial yaw index of the i-th pipe . After dimensionless processing, the synthetic rotational inertia coefficient is calculated through the following formula :[[]]END]] In the formula, is the acceleration due to gravity, set to 9.81 m / s²; represents the moment of inertia; Denotes the gravity load, is the mass of the i-th pipeline; : Considering the influence of the rotation angle on the swinging inertia, the larger the angle, the stronger the lateral inertial swing, approaches 1, reflecting an increase in risk; when , indicating almost no rotation, this term tends to 0 and does not cause additional inertia; , indicating a large horizontal rotation, with the greatest inertial influence; Denotes the hoisting gravity term, representing the relative ratio of the gravity load to the wind load.

8. A multifunctional tower crane black box according to claim 7, characterized in that, The synthetic rotational inertia identification module further includes a second evaluation unit and a second strategy unit; The second evaluation unit is configured to preset an inertia threshold Z and compare the rotational inertia coefficient with the inertia threshold Z to obtain a second evaluation result, including: When it indicates that the current slewing state of the boom is within the safe range and continuous slewing operation is allowed; When , it indicates that the current tower arm slewing state is at risk of rotational inertia superposition, triggering the fourth warning instruction and marking the area corresponding to the current slewing angle as the potential disturbance angle area; When , it indicates that there is a risk of causing the load swing to get out of control or the tower arm structure to be impacted during the current tower arm slewing state, triggering the fifth warning instruction and marking the area corresponding to the current slewing angle as a high-risk angle area; The second strategy unit is used to receive the fourth warning instruction and the fifth warning instruction, and generate corresponding strategies, including: Generate the fourth strategy according to the fourth warning instruction, including: the hoisting system reduces the slewing speed of the tower arm to 60%-70% of the original speed; monitor the wind speed in real time , if the wind speed exceeds 6 m / s, indicating a sudden change in wind speed or a short-term gust area, then switch to the "wind disturbance suppression mode" and suspend slewing until the wind speed does not exceed 6 m / s and resume slewing operation; According to the fifth warning instruction, generate the fifth strategy, including: the hoisting operation enters the forced interruption process, start the motor brake + hydraulic slowdown linkage mechanism of the tower crane, and gradually slow down the slewing at a deceleration rate of 40% - 60%; and mark that personnel are prohibited from entering this high-risk corner area for 10 minutes - 20 minutes, until the wind speed is lower than 4 m / s, the hoisting system will reduce the slewing speed of the tower arm by 30% - 40% of the original speed; if the current tower arm is slewing towards the high-risk area, immediately change the slewing direction, give priority to slewing to the risk-free area, bypass the high-risk corner area, and if it is detected that the slewing direction is about to reverse, including from clockwise to counterclockwise, then delay starting the reverse for 2 - 3 seconds and then perform the slewing operation.

9. A multi-functional tower crane adaptive control method, applied to the multi-functional tower crane black box according to any one of claims 1-8, characterized in that, Including the following steps: Step 1, hoisting pipeline acquisition module, which is used to collect the length of the i-th hoisted pipeline, the pipeline radius, and the mass in real time within the construction space of the tower crane, establish a pipeline data set, and construct the moment of inertia of each pipeline; , pipeline radius and mass , establish a pipeline data set, and construct the moment of inertia of each pipeline ; Step 2: Collect the attitude data, swing amplitude data, hoisting tension data, and tower crane operation motion parameters collected during the hoisting process of the pipeline, and establish an attitude data set; establish and train a pipeline swing model, analyze the attitude data set to predict and obtain the inertial yaw index and deformation of the i-th pipeline , and evaluate, trigger the corresponding warning instruction and generate the corresponding strategy; Step 3: After implementing the corresponding strategy, collect the slewing data and wind load data during the slewing operation of the tower crane, and combine the inertial yaw index of the i-th pipeline and the moment of inertia to construct a synthetic rotational inertia coefficient , and evaluate and identify the dynamic inertia disturbance area formed by the superposition of slewing inertia and load swing, mark it as the high-risk angle area, generate the corresponding strategy and implement it.

10. A multi-functional tower crane system, characterized in that, Including a computer processor, which is used to load and execute the warning instructions and corresponding strategies of a multifunctional tower crane black box according to any one of claims 1 - 8.

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