Tower crane system and offset repairing method thereof

Abstract

The invention provides a tower crane system and an offset repairing method thereof. The tower crane system comprises a base; the tower comprises a tower body, a cargo boom, a balance arm and a first rotating assembly. The monitoring assembly is configured to be used for monitoring the current offset, the current offset direction, the wind load and the wind direction of the tower body; the offset repairing assembly comprises a plurality of groups of compensation arms, a second rotating assembly, a third rotating assembly and a control unit; one end of each compensation arm is rotationally connected with the tower body through a second rotating assembly, a gravity compensation part is suspended at the end, away from the tower body, of each compensation arm, and the compensation arms are of telescopic structures; the control unit is used for predicting the future offset and the future offset direction of the tower body according to data monitored by the monitoring assembly, controlling the compensation arm to stretch out and draw back according to the future offset and the future offset and controlling the compensation arm to rotate, compensation of the offset of the tower body is achieved, and the tower body is kept in a balanced state.

Description

Technical Field

[0001] The present application relates to the field of tower cranes, and in particular to a tower crane system and a method for repairing an offset thereof. Background Art

[0002] Tower crane is a kind of lifting equipment, which is commonly used in engineering construction, loading containers and cargoes in docks, and installing and repairing wind turbines.

[0003] Existing tower cranes typically consist of a base, a tower mounted on the base, a rotatable boom and counterarm mounted on the tower, and a support column at the top of the tower. The boom is connected to a hook via connecting cables, and the counterarm is equipped with a counterweight to balance the weight of the boom and the load it lifts. The top of the support column is connected to the boom and counterarm via multiple connecting cables.

[0004] However, existing tower cranes have the following problems: First, in complex environments, such as strong winds or poor geology (e.g., poor soil quality beneath the crane), the crane is prone to swaying and tilting, which can compromise the tower's stability and lead to crane collapse. Second, existing tower cranes have an uneven mass distribution and a high center of gravity, further compromising their stability. Summary of the Invention

[0005] In view of this, the present application provides a tower crane system with an offset repair function and an offset repair method thereof, aiming to improve the reliability and stability of the tower crane system.

[0006] In a first aspect, the present application provides a tower crane system, comprising: base; A tower body is arranged on the base; a jib configured to lift a load; a counter-arm configured to balance the weight of the lifting arm and the load; A first rotating assembly is provided on the tower body and is configured to drive the lifting arm and the balancing arm to rotate; A monitoring component is configured to monitor a current deflection amount, a current deflection direction, a wind load, and a wind direction of the tower; The offset repair component includes multiple groups of compensation arms, a second rotating component, a third rotating component and a control unit; one end of the multiple groups of compensation arms is rotatably connected to the tower body through the second rotating component, and a gravity compensator is suspended at the end of the multiple groups of compensation arms away from the tower body, and the end of the multiple groups of compensation arms away from the tower body is connected to the third rotating component through a connecting rope, and the third rotating component is set on the tower body; the compensation arm is a retractable structure; the control unit is used to predict the future offset and future offset direction of the tower body according to the data monitored by the monitoring component, control the second rotating component to drive the multiple groups of compensation arms to rotate according to the future offset direction of the tower body to adjust the position of the compensation arm, and adjust the compensation arm to retract and retract according to the future offset of the tower body to adjust the distance between the gravity compensator and the tower body, so as to compensate for the offset of the tower body and maintain the tower body in a balanced state.

[0007] Optionally, the compensation arm includes a hydraulic rod and a driving unit, and the driving unit is used to drive the hydraulic rod to extend and retract.

[0008] Optionally, the length of the compensating arm is smaller than the length of the lifting arm.

[0009] Optionally, the multiple groups of compensation arms are arranged on the tower body at equal angles.

[0010] Optionally, the length of each group of compensation arms in the multiple groups of compensation arms is equal.

[0011] Optionally, the monitoring component includes: Dual-axis tilt sensor, wind load sensor, wind yaw sensor.

[0012] In a second aspect, the present application provides a method for repairing an offset, which is used for the tower crane system described in any one of the above items, comprising: Construct a finite element model of the tower crane system and perform simulation based on the finite element model of the tower crane system to form a data set; Model training is performed based on the data set to obtain the tower crane offset prediction model and offset angle prediction model; Collect monitoring data of the tower body in real time, and determine the future offset and direction of the tower crane through the offset prediction model and offset angle prediction model based on the monitoring data of the tower body; The position of the compensation arm is adjusted according to the future offset direction of the tower crane, and the compensation arm is controlled to be extended and retracted according to the future offset amount, so as to control the distance between the gravity compensator and the tower body.

[0013] Optionally, the steps of performing simulation based on the finite element model of the tower crane system to form a data set include: The first data set is obtained by performing simulation based on the finite element model, using the tower body's offset, offset direction, wind direction, and wind load at the current moment as independent variables and the tower crane's offset at the next moment as the dependent variable; The offset, offset direction, wind direction, and wind load of the tower at the current moment are used as independent variables, and the offset direction of the tower at the next moment is used as the dependent variable. Simulation is performed according to the finite element model to obtain the second data set.

[0014] Optionally, the steps of performing model training based on the data set to obtain a tower crane offset prediction model and an offset angle prediction model include: Constructing a first deep learning model and a second deep learning model; Using the first data set to train the first deep learning model, to obtain a tower crane offset prediction model; The second deep learning model is trained using the second data set to obtain a tower crane offset angle prediction model.

[0015] Optionally, the step of adjusting the position of the compensation arm according to the offset direction of the tower crane and adjusting the position of the gravity compensator on the compensation arm according to the offset includes: Controlling the multiple groups of compensation arms to rotate simultaneously according to the future deflection direction of the tower body, until one group of compensation arms in the multiple groups of compensation arms rotates to the same direction as or the opposite direction of the future deflection direction of the tower body; If the compensating arm located in the opposite direction of the future deflection direction of the tower body is used as the target compensating arm, and the compensating arms other than the target compensating arm are used as non-target compensating arms, then the distance between the gravity compensating member on the target compensating arm and the tower body is adjusted to be greater than the distance between the non-target compensating member and the tower body; If the compensating arm located in the same direction as the future offset direction of the tower body is taken as the target compensating arm, and the compensating arms other than the target compensating arm are taken as the non-target compensating arms, the distance between the gravity compensating part on the target compensating arm and the tower body is adjusted to be smaller than the distance between the non-target compensating part and the tower body.

[0016] The technical solution provided by this application has the following unexpected technical effects: The present application provides a tower crane system, which includes a monitoring component and an offset repair component. The monitoring component is used to detect the current offset amount, current offset direction, wind load, and wind direction of the tower body; the offset repair component includes multiple sets of compensation arms, a second rotating component, a third rotating component, and a control unit. Unexpected technical effects include: (1) The monitoring component monitors the tower body data, and the control unit in the offset repair component predicts the future offset direction and future offset amount of the tower body based on the tower body data monitored by the monitoring component, thereby controlling the second rotating component to rotate to control the position of the compensation arm, and controlling the compensation arm to extend and retract to control the distance between the gravity compensation member and the tower body, thereby controlling the direction of the resultant force applied by the multiple sets of compensation arms to the tower body, so as to maintain the tower body in a stable state, and prevent the tower body from continuously deflecting in a strong wind environment or under the influence of geological conditions (such as poor geological conditions under the tower crane), thereby causing the tower crane to collapse. (2) The gravity compensator is suspended on the compensation arm. When the tower body shakes, the gravity compensator suspended on the compensation arm applies damping to the tower body (similar to a damper) to prevent the tower body from shaking, which is conducive to further maintaining the stability of the tower body. (3) The height of the tower crane is generally high, and the lifting arm and balance arm at the top of the tower body occupy a large part of the weight of the tower crane. Due to their high position, the lifting arm and balance arm will cause the overall mass distribution of the tower crane to be uneven, making the center of gravity of the tower crane higher, which will further affect the stability of the tower crane. By setting multiple sets of compensation arms on the tower body, the multiple sets of compensation arms form a mechanical balance on the horizontal plane (parallel to the ground), and the multiple sets of compensation arms only apply force to the tower body in the height direction (perpendicular to the ground) (that is, the multiple sets of compensation arms only increase the weight of the tower crane system), so that the center of gravity of the tower crane can be lowered by multiple sets of compensation arms. The lower the center of gravity of the tower crane, the more conducive it is to the overall stability of the tower crane system. In complex environments (strong wind environment, poor geological environment, etc.), the tower crane system is less likely to collapse. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 A schematic structural diagram of a tower crane system provided in one embodiment of the present application.

[0019] Figure 2 A schematic diagram of the distribution of balance arms provided in one embodiment of the present application.

[0020] Figure 3A schematic diagram of the tilt angle (α) of a tower crane provided in one embodiment of the present application.

[0021] Figure 4 A schematic diagram of the tilt direction (β) of a tower crane provided in one embodiment of the present application.

[0022] Figure 5 A schematic diagram of an offset compensation process provided in an embodiment of the present application.

[0023] Figure 6 A schematic diagram of an offset compensation process provided in an embodiment of the present application.

[0024] Figure 7 A schematic diagram of an offset compensation process provided in an embodiment of the present application.

[0025] Figure 8 A flowchart of an offset repair method provided in one embodiment of the present application.

[0026] The reference numerals are as follows: 1: base; 2: tower body; 21: support member; 22: connecting cable; 3: crane arm; 31: moving part; 32: hook; 33: sling; 4: balance arm; 41: gravity block; 5: first rotating assembly; 6: Monitoring component; 61: Wind load sensor; 62: Wind angle sensor; 63: Dual-axis tilt sensor 63; 7: Offset repair component; 71: Compensation arm; 711: Hydraulic rod; 712: Drive unit; 713: Gravity compensation component; 714: Drive unit; 72: Second rotating component; 73: Third rotating component; 74: Control unit. DETAILED DESCRIPTION

[0027] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0028] Figure 1 This is a schematic diagram of the structure of a tower crane system provided in one embodiment of the present application. Figure 1 ,include: Base 1; The tower body 2 is arranged on the base 1; A lifting arm 3 is configured to lift a heavy object; a balancing arm 4 configured to balance the weight of the lifting arm 3 and the weight; A first rotating assembly 5 is provided on the tower body 2 and is configured to drive the boom 3 and the balance arm 4 to rotate; A monitoring component 6 is configured to monitor the current offset, current offset direction, wind load, and wind direction of the tower body 2; The offset repair component 7 includes multiple groups of compensation arms 71, a second rotating component 72, a third rotating component 73 and a control unit 74; one end of the multiple groups of compensation arms 71 is rotatably connected to the tower body 2 through the second rotating component 72, and a gravity compensating part 713 is suspended at the end of the multiple groups of compensation arms 71 away from the tower body 2, and the end of the multiple groups of compensation arms 71 away from the tower body 2 is connected to the third rotating component 73 through multiple groups of connecting ropes 22, and the third rotating component 73 is set on the tower body 2; the compensation arm 71 is a retractable structure; the control unit 74 is used to predict the future offset and future offset direction of the tower body 2 according to the data monitored by the monitoring component 5, control the second rotating component 72 to drive the multiple groups of compensation arms 71 to rotate according to the future offset direction of the tower body 2 to adjust the position of the compensation arm 71, and adjust the compensation arm 71 to retract and retract according to the future offset of the tower body 2 to adjust the distance between the gravity compensating part 713 and the tower body 2, so as to compensate for the offset of the tower body 2 and maintain the tower body 2 in a balanced state.

[0029] In one example, the base 1 is a concrete base.

[0030] In one example, the boom is provided with a moving member 31, a hook 32 and a sling 33. The moving member 31 can move along the boom, and the hook 32 is connected to the moving member 31 through the sling 33.

[0031] In one example, a gravity block 41 is provided on the balancing arm 4 .

[0032] In one example, the monitoring component 6 includes: Wind load sensor 61 , wind angle sensor 62 , and dual-axis tilt sensor 63 .

[0033] The dual-axis inclination sensor 63 can measure the inclination of the tower body 2 in the X-axis direction and the Y-axis direction, thereby determining the offset direction and offset amount of the tower body 2 .

[0034] In one example, the compensation arm 71 includes a hydraulic rod 711 and a driving unit 712 , and the driving unit 712 is used to drive the hydraulic rod 711 to extend and retract.

[0035] It should be noted that the compensating arm 71 provided in this application is retractable. Therefore, the connecting cable between the compensating arm and the third rotating assembly also needs to be of variable length. Specifically, this can be secured to the connecting cable via a winch. When the length of the connecting cable needs to be increased (i.e., when the compensating arm is extended), the winch is used to increase the length of the connecting cable accordingly. Conversely, the winch is used to decrease the length of the connecting cable accordingly. This allows for a variable length connecting cable between the compensating arm and the third rotating assembly. The winch can be located at the end of the compensating arm away from the tower body.

[0036] In one example, the length of the compensation arm 71 is smaller than the length of the lifting arm 3 .

[0037] It should be noted that setting up the compensating arm will affect the lifting range of the tower crane to a certain extent, that is, the lifting range of the tower crane needs to deduct the range covered by the length of the compensating arm. Therefore, the length of the compensating arm needs to be smaller than the length of the tower crane.

[0038] Of course, the compensating arm's length needs to be shorter than the tower crane's length only when the height of the load lifted by the tower crane's boom is lower than the height of the compensating arm. If the height of the load lifted by the tower crane is higher than the compensating arm, there is no need to require the compensating arm's length to be shorter than the tower crane's length. In this case, the compensating arm affects the tower crane's lifting range in the height direction.

[0039] Based on the above discussion, those skilled in the art should understand that the compensating arm will affect the lifting range of the tower crane (this range is the lifting range in the horizontal plane, or the lifting height in the vertical direction). Therefore, for different application scenarios (for example, in some scenarios, a larger lifting range in the horizontal plane is required, then the length of the compensating arm should be shortened accordingly; in some scenarios, a larger lifting height in the vertical height is required, then the height of the compensating arm should be lowered accordingly. However, it should be noted that the length and height of the compensating arm will also affect the balancing effect of the compensating arm on the tower body. Therefore, the lifting range and the balancing effect should be comprehensively considered to determine the length or height of the compensating arm), the length of the compensating arm or the height of the compensating arm on the tower body can be selectively set to control the lifting range of the tower crane system.

[0040] As an example, the length of the compensation arm 71 is 1 / 4 to 1 / 2 of the length of the lifting arm 3.

[0041] As an example, the height of the compensation arm 71 , and the distance between the boom 3 and the base 1 The ratio is 1 / 4~1 / 2.

[0042] To facilitate understanding of this application Figure 1 The present application provides a schematic diagram of the distribution of the balancing arms. Figure 2, wherein the multiple groups of compensation arms 71 are arranged on the tower body 2 at equal angles.

[0043] In one example, the lengths of the compensation arms 71 in each group of the multiple groups of compensation arms 71 are equal.

[0044] It should be noted that the purpose of having equal included angles and equal lengths for each set of compensation arms is to ensure that the direction of the resultant force applied by the multiple sets of compensation arms to the tower body is the direction of the gravity of the tower body.

[0045] For the offset of the tower 2 in this application, please refer to Figure 3 , a three-dimensional coordinate system is established with the tower body 2. The offset of the tower body refers to the inclination angle (α) of the tower body 2 relative to the Z axis.

[0046] Regarding the offset direction of the tower body 2 in this application, please refer to Figure 3 and Figure 4 ,when Figure 3 When the tower 2 in the figure is projected onto the XOY plane (the plane formed by the X-axis and the Y-axis), we get Figure 4 The offset direction of the tower body 2 refers to the angle β between the projection of the tower body on the XOY plane and the X-axis (of course, the angle here can be directional, such as the angle in the counterclockwise direction with the X-axis, or the angle in the clockwise direction with the X-axis).

[0047] See Figure 5 and Figure 6 After the offset direction (β) of the tower body is determined, the compensation arms 71 are rotated so that one set of compensation arms 71 is rotated to the offset direction of the tower body.

[0048] See Figure 7 When the target compensation arm rotates to the offset direction, the position of the gravity compensation part 713 on the target compensation arm is adjusted. By adjusting the position of the gravity compensation part 713 (by controlling the extension and contraction of the compensation arm to adjust the position of the gravity compensation part 713), the mechanical balance between the multiple groups of compensation arms that maintain mechanical balance on the plane is broken, so that the multiple groups of compensation arms will apply a force in the opposite direction of the tilt direction of the tower body to suppress the tilt of the tower body.

[0049] Figure 8 This is a flow chart of the offset repair method provided by an embodiment of the present application. Figure 8 ,include: S101. Construct a finite element model of the tower crane system, and perform simulation based on the finite element model of the tower crane system to form a data set.

[0050] In one example, step S101 includes: The first step is to obtain the geometric and physical parameters of the tower crane.

[0051] The second step is to build a three-dimensional model of the tower crane based on its geometric parameters.

[0052] Among them, Figure 1 Build a 3D model of the tower crane system in the project.

[0053] The third step is to perform meshing based on the three-dimensional model of the tower crane and generate a finite element model.

[0054] The fourth step is to assign material properties to each part in the finite element model based on physical parameters.

[0055] Step 5: Based on the finite element model, calculate the future tilt direction and tilt amount of the tower crane under different wind loads and wind directions.

[0056] Among them, the offset of the tower at the current moment is , offset direction , wind direction , wind load is the independent variable, the offset of the tower crane at the next moment As the dependent variable, simulation is performed according to the finite element model to obtain the first data set.

[0057] The offset of the tower at the current moment , offset direction , wind direction , wind load is the independent variable, the offset direction of the tower at the next moment As the dependent variable, simulation is performed according to the finite element model to obtain the second data set.

[0058] S102: Perform model training based on the data set to obtain a tower crane offset prediction model and an offset angle prediction model.

[0059] In one example, step S102 includes: The first step is to build the first deep learning model and the second deep learning model.

[0060] As an example, the first deep learning model is the Physical Constraint Multi-Scale Dilated Convolutional Network (PC-MSDCN), which is a deep learning architecture that combines physical constraints with multi-scale dilated convolution. It is mainly used to solve complex tasks that require taking into account both spatial multi-scale feature capture and consistency with physical laws (such as high-resolution image segmentation, physical system modeling, etc.).

[0061] Among them, the physical constraint can be a mechanical constraint, and the moment balance constraint is performed through the compensation arm and the tower body.

[0062] As an example, the second deep learning model is an LSTM-Transformer hybrid network, which captures historical sequence dependencies (such as the β gradient caused by the continuous impact of wind load) through bidirectional LSTM and encodes it through a transformer encoder.

[0063] The above-mentioned first deep learning model and second deep learning model belong to the existing technology. Those skilled in the art can use other models to replace the first deep learning model and the second deep learning model of this application as needed, and this application does not impose any restrictions on this.

[0064] The second step is to use the first data set to train the first deep learning model to obtain the tower crane offset prediction model.

[0065] It should be noted that before using the first dataset to train the first deep learning model, the first dataset may be preprocessed. The preprocessing may include normalization, data cleaning, etc.

[0066] The third step is to use the second data set to train the second deep learning model to obtain the tower crane offset angle prediction model.

[0067] It should be noted that before using the second dataset to train the second deep learning model, the second dataset may be preprocessed. The preprocessing may include normalization, data cleaning, etc.

[0068] S103. Collect monitoring data of the tower body in real time.

[0069] Among them, the monitoring data includes: current offset, current offset direction, wind load, and wind direction.

[0070] S104: Determine the future offset and direction of the tower crane using an offset prediction model and an offset angle prediction model based on the monitoring data of the tower body.

[0071] Among them, the monitoring data is imported into the offset prediction model and the offset angle prediction model to obtain the future offset and future offset direction.

[0072] It should be noted that the monitoring data needs to be processed using the same processing method as the data set, and then the processed monitoring data is imported into the prediction model for prediction.

[0073] S105 , adjusting the position of the compensation arm according to the future offset direction of the tower crane, and controlling the compensation arm to extend and retract according to the future offset amount, so as to control the distance between the gravity compensator and the tower body.

[0074] In one example, step S105 includes: Controlling the multiple groups of compensation arms to rotate simultaneously according to the future deflection direction of the tower body, until one group of compensation arms in the multiple groups of compensation arms rotates to the same direction as or the opposite direction of the future deflection direction of the tower body; If the compensating arm located in the opposite direction of the future deflection direction of the tower body is used as the target compensating arm, and the compensating arms other than the target compensating arm are used as non-target compensating arms, then the distance between the gravity compensating member on the target compensating arm and the tower body is adjusted to be greater than the distance between the non-target compensating member and the tower body; If the compensating arm located in the same direction as the future offset direction of the tower body is taken as the target compensating arm, and the compensating arms other than the target compensating arm are taken as the non-target compensating arms, the distance between the gravity compensating part on the target compensating arm and the tower body is adjusted to be smaller than the distance between the non-target compensating part and the tower body.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A tower crane system, characterized in that: include: base; A tower body is arranged on the base; a jib configured to lift a load; a counter-arm configured to balance the weight of the lifting arm and the load; A first rotating assembly is provided on the tower body and is configured to drive the lifting arm and the balancing arm to rotate; A monitoring component is configured to monitor a current deflection amount, a current deflection direction, a wind load, and a wind direction of the tower; The offset repair assembly includes multiple sets of compensation arms, a second rotating assembly, a third rotating assembly, and a control unit; one end of the multiple sets of compensation arms is rotatably connected to the tower body through the second rotating assembly, and a gravity compensator is suspended at one end of the multiple sets of compensation arms away from the tower body. The other end of the multiple sets of compensation arms away from the tower body is connected to the third rotating assembly through a connecting cable, and the third rotating assembly is arranged on the tower body; The compensation arm is a retractable structure; the control unit is used to predict the future offset and future offset direction of the tower body based on the data monitored by the monitoring component, control the second rotating component to drive multiple groups of compensation arms to rotate according to the future offset direction of the tower body to adjust the position of the compensation arm, and adjust the compensation arm to retract and retract according to the future offset of the tower body to adjust the distance between the gravity compensation part and the tower body, thereby compensating for the offset of the tower body and maintaining the tower body in a balanced state.

2. The tower crane system according to claim 1, characterized in that: The compensation arm includes a hydraulic rod and a driving unit, and the driving unit is used to drive the hydraulic rod to extend and retract.

3. The tower crane system according to claim 1, characterized in that: The length of the compensating arm is smaller than the length of the lifting arm.

4. The tower crane system according to claim 1, characterized in that: The multiple groups of compensation arms are arranged at equal angles on the tower body.

5. The tower crane system according to claim 1, characterized in that: The length of each group of compensation arms in the multiple groups of compensation arms is equal.

6. The tower crane system according to any one of claims 1 to 5, characterized in that: The monitoring components include: Dual-axis tilt sensor, wind load sensor, wind yaw sensor.

7. A method for repairing an offset, characterized in that: The offset repair method is used for the tower crane system according to any one of claims 1 to 6, comprising: Construct a finite element model of the tower crane system and perform simulation based on the finite element model of the tower crane system to form a data set; Model training is performed based on the data set to obtain the tower crane offset prediction model and offset angle prediction model; Collect monitoring data of the tower in real time; Based on the monitoring data of the tower body, the future offset and direction of the tower crane are determined through the offset prediction model and the offset angle prediction model; The position of the compensation arm is adjusted according to the future offset direction of the tower crane, and the compensation arm is controlled to be extended and retracted according to the future offset amount, so as to control the distance between the gravity compensator and the tower body.

8. The offset repair method according to claim 7, characterized in that: The steps to generate the data set for simulation based on the finite element model of the tower crane system include: The first data set is obtained by performing simulation based on the finite element model, using the tower body's offset, offset direction, wind direction, and wind load at the current moment as independent variables and the tower crane's offset at the next moment as the dependent variable; The offset, offset direction, wind direction, and wind load of the tower at the current moment are used as independent variables, and the offset direction of the tower at the next moment is used as the dependent variable. Simulation is performed according to the finite element model to obtain the second data set.

9. The offset repair method according to claim 8, characterized in that: The steps of training the model based on the data set to obtain the tower crane offset prediction model and the offset angle prediction model include: Constructing a first deep learning model and a second deep learning model; Using the first data set to train the first deep learning model, to obtain a tower crane offset prediction model; The second deep learning model is trained using the second data set to obtain a tower crane offset angle prediction model.

10. The offset repair method according to any one of claims 7 to 9, characterized in that: The steps of adjusting the position of the compensating arm according to the future offset direction of the tower crane and controlling the compensating arm to extend and retract according to the future offset to control the distance between the gravity compensating member and the tower body include: Controlling the multiple groups of compensation arms to rotate simultaneously according to the future deflection direction of the tower body, until one group of compensation arms in the multiple groups of compensation arms rotates to the same direction as or the opposite direction of the future deflection direction of the tower body; If the compensating arm located in the opposite direction of the future deflection direction of the tower body is used as the target compensating arm, and the compensating arms other than the target compensating arm are used as non-target compensating arms, then the distance between the gravity compensating member on the target compensating arm and the tower body is adjusted to be greater than the distance between the non-target compensating member and the tower body; If the compensating arm located in the same direction as the future offset direction of the tower body is taken as the target compensating arm, and the compensating arms other than the target compensating arm are taken as the non-target compensating arms, the distance between the gravity compensating part on the target compensating arm and the tower body is adjusted to be smaller than the distance between the non-target compensating part and the tower body.

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