Tower crane system and method for offset repair thereof

Abstract

The application provides a tower crane system and a deviation repair method thereof, which comprises a base, a tower body, a lifting arm, a balance arm, a first rotating assembly, a monitoring assembly configured to monitor a current deviation amount, a current deviation direction, a wind load and a wind direction of the tower body, a deviation repair assembly comprising a plurality of sets of compensation arms, a second rotating assembly, a third rotating assembly and a control unit, one end of each set of compensation arms being rotatably connected to the tower body through the second rotating assembly, and a gravity compensation member being suspended from the other end of each set of compensation arms away from the tower body, the compensation arms being telescopic structures, and the control unit being used to predict a future deviation amount and a future deviation direction of the tower body according to the data monitored by the monitoring assembly, control the compensation arms to be telescopic and rotated according to the future deviation direction and the future deviation amount, and realize compensation for the deviation of the tower body, so that the tower body is maintained in a balanced state.

Description

Technical Field

[0001] This application belongs to the field of tower cranes, and in particular relates to a tower crane system and a method for correcting its offset. Background Technology

[0002] Tower cranes are lifting equipment commonly used in engineering construction, as well as in port operations for loading containers and cargo. They are also used for the installation and maintenance of wind turbine generators, among other applications.

[0003] Existing tower cranes generally include: a base, a tower body mounted on the base, a rotatable jib and counterweight jib mounted on the tower body, and a support column at the top of the tower body. The jib is connected to hooks via connecting cables, and the counterweight jib is equipped with balancing components to balance the weight of the jib and the load it lifts. The top of the support column is connected to the jib and counterweight jib via multiple connecting cables.

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

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

[0006] In a first aspect, this application provides a tower crane system, comprising:

[0007] Base;

[0008] The tower body is mounted on the base;

[0009] The crane boom is configured to lift heavy objects.

[0010] A counterweight arm is configured to balance the weight of the lifting arm and the load.

[0011] The first rotating assembly is disposed on the tower body and is configured to drive the lifting arm and the counterweight arm to rotate.

[0012] The monitoring component is configured to monitor the current offset, current offset direction, wind load, and wind direction of the tower.

[0013] The offset repair component includes multiple sets of compensating arms, a second rotating component, a third rotating component, and a control unit. One end of each set of compensating arms is rotatably connected to the tower body via the second rotating component, and a gravity compensation component is suspended from the end of each set of compensating arms away from the tower body. The end of each set of compensating arms away from the tower body is connected to the third rotating component via a connecting cable. The third rotating component is mounted on the tower body. The compensating arms are telescopic structures. 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. Based on the future offset direction of the tower body, the control unit controls the second rotating component to drive the multiple sets of compensating arms to rotate to adjust the position of the compensating arms. Based on the future offset of the tower body, the control unit adjusts the extension and retraction of the compensating arms to adjust the distance between the gravity compensation component and the tower body, thereby compensating for the tower body offset and maintaining the tower body in a balanced state.

[0014] Optionally, the compensating arm includes a hydraulic rod and a drive unit, the drive unit being used to drive the hydraulic rod to extend or retract.

[0015] Optionally, the length of the compensating arm is less than the length of the lifting arm.

[0016] Optionally, the multiple sets of compensating arms are arranged at equal angles on the tower body.

[0017] Optionally, the length of each set of compensating arms in the multiple sets of compensating arms is equal.

[0018] Optionally, the monitoring component includes:

[0019] Dual-axis tilt sensor, wind load sensor, wind deflection angle sensor.

[0020] Secondly, this application provides an offset repair method for the tower crane system described in any of the preceding claims, comprising:

[0021] Construct a finite element model of the tower crane system, and perform simulations based on the finite element model of the tower crane system to form a dataset;

[0022] Model training was performed based on the dataset to obtain the tower crane offset prediction model and offset angle prediction model.

[0023] Real-time monitoring data of the tower body is collected, and based on the monitoring data of the tower body, the future offset and future offset direction of the tower crane are determined by offset prediction model and offset angle prediction model.

[0024] The position of the compensating arm is adjusted according to the future offset direction of the tower crane, and the extension and retraction of the compensating arm is controlled according to the future offset amount, so as to control the distance between the gravity compensation component and the tower body.

[0025] Optionally, the steps for generating a dataset by simulating the finite element model of the tower crane system include:

[0026] Using the tower'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, simulations were performed based on the finite element model to obtain the first dataset.

[0027] Using the tower's offset, offset direction, wind direction, and wind load at the current moment as independent variables, and the tower's offset direction at the next moment as the dependent variable, simulations were performed based on the finite element model to obtain the second dataset.

[0028] Optionally, the steps for training a model based on the dataset to obtain a tower crane offset prediction model and an offset angle prediction model include:

[0029] Construct the first deep learning model and the second deep learning model;

[0030] The first deep learning model was trained using the first dataset to obtain the tower crane offset prediction model;

[0031] The second deep learning model was trained using the second dataset to obtain the tower crane offset angle prediction model.

[0032] Optionally, the steps of adjusting the position of the compensating boom according to the offset direction of the tower crane, and adjusting the position of the gravity compensator on the compensating boom according to the offset amount, include:

[0033] The multiple sets of compensating arms are controlled to rotate simultaneously according to the future offset direction of the tower body, until one of the multiple sets of compensating arms rotates to the same direction or the opposite direction of the future offset direction of the tower body.

[0034] If the compensating arm located in the opposite direction of 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 non-target compensating arms, then the distance between the gravity compensating component on the target compensating arm and the tower body is adjusted to be greater than the distance between the non-target compensating component and the tower body.

[0035] 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 non-target compensating arms, then the distance between the gravity compensating component on the target compensating arm and the tower body is adjusted to be less than the distance between the non-target compensating component and the tower body.

[0036] The unexpected technical effects of the technical solution provided in this application include:

[0037] This 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, current offset direction, wind load, and wind direction of the tower body. The offset repair component includes multiple sets of compensating arms, a second rotating component, a third rotating component, and a control unit. Unexpected technical effects include: (1) By monitoring the tower body data through the monitoring component, the control unit in the offset repair component uses the tower body data monitored by the monitoring component to predict the future offset direction and future offset of the tower body, thereby controlling the second rotating component to rotate to control the position of the compensating arms, controlling the extension and retraction of the compensating arms to control the distance between the gravity compensator and the tower body, thereby controlling the direction of the resultant force applied to the tower body by multiple sets of compensating arms, so as to maintain the tower body in a stable state and avoid the tower body from continuously offsetting in strong wind environment or affected by geological conditions (such as poor geological conditions under the tower crane), thereby causing the tower crane to collapse. (2) The gravity compensation component is suspended on the compensating arm. When the tower body sways, the gravity compensation component suspended on the compensating arm applies damping to the tower body (similar to a damper), which hinders the swaying of the tower body and helps to further maintain the stability of the tower body. (3) The tower body of the tower crane is generally quite high, and the lifting arm and counterweight arm located at the top of the tower body account for a large part of the weight of the tower crane. Due to their high position, the lifting arm and counterweight arm will cause uneven mass distribution of the tower crane as a whole, making the center of gravity of the tower crane higher, which will further hinder the stability of the tower crane. By setting multiple sets of compensating arms on the tower body, the multiple sets of compensating arms form mechanical balance in the horizontal plane (parallel to the ground). The multiple sets of compensating arms only apply force to the tower body in the height direction (perpendicular to the ground) (that is, the multiple sets of compensating arms only increase the weight of the tower crane system), thereby lowering the center of gravity of the tower crane as a whole. The lower the center of gravity of a tower crane, the more conducive it is to the overall stability of the tower crane system. In complex environments (strong winds, poor geological conditions, etc.), the tower crane system is less likely to collapse. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0039] Figure 1 This is a schematic diagram of the structure of a tower crane system provided in one embodiment of this application.

[0040] Figure 2 This is a schematic diagram of the distribution of the balance arm provided in one embodiment of this application.

[0041] Figure 3This is a schematic diagram of the tilt angle (α) of a tower crane provided in an embodiment of this application.

[0042] Figure 4 This is a schematic diagram of the tilt direction (β) of a tower crane provided in an embodiment of this application.

[0043] Figure 5 This is a schematic diagram of an offset compensation process provided in an embodiment of this application.

[0044] Figure 6 This is a schematic diagram of an offset compensation process provided in an embodiment of this application.

[0045] Figure 7 This is a schematic diagram of an offset compensation process provided in an embodiment of this application.

[0046] Figure 8 This is a flowchart of an offset repair method provided in an embodiment of this application.

[0047] The attached figures are labeled as follows:

[0048] 1: Base;

[0049] 2: Tower body; 21: Supporting component; 22: Connecting cable;

[0050] 3: Crane boom; 31: Moving part; 32: Hook; 33: Sling;

[0051] 4: Balance arm; 41: Gravity block;

[0052] 5: First rotating assembly;

[0053] 6: Monitoring components; 61: Wind load sensor; 62: Wind deflection angle sensor; 63: Dual-axis tilt sensor;

[0054] 7: Offset repair component; 71: Compensating arm; 711: Hydraulic rod; 712: Drive unit; 713: Gravity compensation component; 714: Drive unit; 72: Second rotation component; 73: Third rotation component; 74: Control unit. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0056] Figure 1 This is a schematic diagram of the structure of a tower crane system provided in one embodiment of this application. See also...Figure 1 ,include:

[0057] Base 1;

[0058] Tower body 2 is mounted on the base 1;

[0059] Crane boom 3 is configured for lifting heavy objects;

[0060] Counterweight arm 4 is configured to balance the weight of lifting arm 3 and the load.

[0061] The first rotating component 5 is disposed on the tower body 2 and is configured to drive the lifting arm 3 and the counterweight arm 4 to rotate.

[0062] Monitoring component 6 is configured to monitor the current offset, current offset direction, wind load, and wind direction of tower 2;

[0063] The offset repair component 7 includes multiple sets of compensating arms 71, a second rotating component 72, a third rotating component 73, and a control unit 74. One end of each set of compensating arms 71 is rotatably connected to the tower body 2 via the second rotating component 72, and a gravity compensation component 713 is suspended from the end of each set of compensating arms 71 away from the tower body 2. The end of each set of compensating arms 71 away from the tower body 2 is connected to the third rotating component 73 via multiple sets of connecting cables 22. The third rotating component 73 is mounted on the tower body 2. The compensating arms 71 are telescopic structures. The control unit 74 is used to predict the future offset and future offset direction of the tower body 2 based on the data monitored by the monitoring component 5. Based on the future offset direction of the tower body 2, the control unit 74 controls the second rotating component 72 to drive the multiple sets of compensating arms 71 to rotate to adjust the position of the compensating arms 71. Based on the future offset of the tower body 2, the control unit 74 adjusts the extension and retraction of the compensating arms 71 to adjust the distance between the gravity compensation component 713 and the tower body 2, thereby compensating for the offset of the tower body 2 and maintaining the tower body 2 in a balanced state.

[0064] In one example, base 1 is a concrete base.

[0065] In one example, the lifting boom is provided with a movable member 31, a hook 32, and a sling 33. The movable member 31 is movable along the lifting boom, and the hook 32 is connected to the movable member 31 via the sling 33.

[0066] In one example, a gravity block 41 is provided on the balance arm 4.

[0067] In one example, the monitoring component 6 includes:

[0068] Wind load sensor 61, wind deflection angle sensor 62, dual-axis tilt sensor 63.

[0069] Among them, the dual-axis tilt sensor 63 can measure the tilt angle 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.

[0070] In one example, the compensating arm 71 includes a hydraulic rod 711 and a drive unit 712, the drive unit 712 being used to drive the hydraulic rod 711 to extend or retract.

[0071] It should be noted that the compensating arm 71 provided in this application is a telescopic compensating arm. Therefore, the connecting cable between the compensating arm and the third rotating component also needs to be a variable-length connecting cable. Specifically, it can be fixed to the connecting cable using a winch. When the length of the connecting cable needs to be increased (i.e., when the compensating arm extends), the length of the connecting cable is increased accordingly using the winch. Conversely, the length of the connecting cable is decreased accordingly using the winch. This achieves a variable length for the connecting cable between the compensating arm and the third rotating component. The winch can be located at the end of the compensating arm furthest from the tower body.

[0072] In one example, the length of the compensating arm 71 is less than the length of the lifting arm 3.

[0073] It should be noted that setting up a compensating arm will affect the lifting range of the tower crane to some extent. That is, the lifting range of the tower crane needs to be reduced by the area covered by the length of the compensating arm. Therefore, the length of the compensating arm needs to be less than the length of the tower crane.

[0074] Of course, the requirement that the length of the compensating arm be less than the length of the tower crane applies 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 height of the compensating arm, then it is not necessary for the length of the compensating arm to be less than the length of the tower crane. In this case, the compensating arm affects the lifting range of the tower crane in the vertical direction.

[0075] Based on the above discussion, those skilled in the art should understand that the compensating arm affects the lifting range of the tower crane (this range refers to the horizontal lifting range or the vertical lifting height). Therefore, for different application scenarios (e.g., in some scenarios where a larger horizontal lifting range is required, the length of the compensating arm is shortened accordingly; in other scenarios where a larger vertical lifting height is required, the height of the compensating arm is reduced accordingly. However, it should be noted that the length and height of the compensating arm also affect its balance effect on the tower body. Therefore, the length or height of the compensating arm should be selectively set by comprehensively considering both the lifting range and the balance effect to determine the length or height of the compensating arm, in order to control the lifting range of the tower crane system.

[0076] As an example, the length of the compensating arm 71 is 1 / 4 to 1 / 2 of the length of the lifting arm 3.

[0077] As an example, the height of the compensating arm 71 The distance between the lifting boom 3 and the base 1 The ratio is 1 / 4 to 1 / 2.

[0078] For ease of understanding this application Figure 1 Regarding the arrangement of the balance arms, this application provides a schematic diagram of the distribution of the balance arms. See also... Figure 2 The multiple sets of compensating arms 71 are arranged at equal angles on the tower body 2.

[0079] In one example, each of the multiple sets of compensating arms 71 has the same length.

[0080] It should be noted that the purpose of having equal included angles and equal lengths for each set of compensating arms is to ensure that the direction of the resultant force exerted on the tower body by the multiple sets of compensating arms is the direction of the tower body's gravity.

[0081] For the offset of tower body 2 in this application, please refer to Figure 3 A three-dimensional coordinate system is established with tower body 2. The offset of the tower body refers to the tilt angle (α) of tower body 2 relative to the Z-axis.

[0082] Regarding the offset direction of tower body 2 in this application, please refer to... Figure 3 and Figure 4 ,when Figure 3 When the tower body 2 is projected onto the XOY plane (the plane formed by the X and Y axes), we obtain... Figure 4 The offset direction of 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 have a direction, such as the angle between the counterclockwise direction and the X-axis, or the angle between the clockwise direction and the X-axis).

[0083] Please see Figure 5 and Figure 6 Once the offset direction (β) of the tower body is determined, the compensation arm 71 is rotated so that a set of compensation arms 71 rotates to the offset direction of the tower body.

[0084] Please see Figure 7 When the target compensating arm rotates to the offset direction, the position of the gravity compensating component 713 on the target compensating arm is adjusted. By adjusting the position of the gravity compensating component 713 (by controlling the extension and retraction of the compensating arm to adjust the position of the gravity compensating component 713), the mechanical balance between the multiple sets of compensating arms that maintain mechanical balance on the plane is broken. As a result, the multiple sets of compensating 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.

[0085] Figure 8 This is a flowchart illustrating an offset repair method provided in an embodiment of this application. See also... Figure 8 ,include:

[0086] 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 dataset.

[0087] In one example, step S101 includes:

[0088] The first step is to obtain the geometric and physical parameters of the tower crane.

[0089] The second step is to establish a three-dimensional model of the tower crane based on its geometric parameters.

[0090] Among them, with Figure 1 A three-dimensional model of the tower crane system was created.

[0091] The third step is to mesh the 3D model of the tower crane to generate a finite element model.

[0092] The fourth step is to assign material properties to each part of the finite element model based on physical parameters.

[0093] Step 5: Solve the future tilt direction and future tilt amount of the tower crane under different wind loads and wind directions based on the finite element model.

[0094] Among them, the offset of the tower body at the current moment. Offset direction Wind direction Wind load The independent variable is the offset of the tower crane at the next moment. Using as the dependent variable, simulations were performed based on the finite element model to obtain the first dataset.

[0095] The offset of the tower body at the current moment Offset direction Wind direction Wind load The direction of the tower's offset at the next moment is the independent variable. Using as the dependent variable, simulations were performed based on the finite element model to obtain the second dataset.

[0096] S102. Train the model based on the dataset to obtain the tower crane offset prediction model and offset angle prediction model.

[0097] In one example, step S102 includes:

[0098] The first step is to build the first deep learning model and the second deep learning model.

[0099] As an example, the first deep learning model is the Physically Constrained Multi-Scale Dilated Convolutional Network (PC-MSDCN), a deep learning architecture that combines physical constraints with multi-scale dilated convolution. It is mainly used to solve complex tasks that require simultaneous capture of spatial multi-scale features and consistency of physical laws (such as high-resolution image segmentation, physical system modeling, etc.).

[0100] Among them, physical constraints can be mechanical constraints, and torque balance constraints are achieved through the compensating arm and tower body.

[0101] As an example, the second deep learning model is an LSTM-Transformer hybrid network, which captures historical sequence dependencies (such as β-gradients caused by the continuous influence of wind load) through bidirectional LSTM and encodes them through a transformer encoder.

[0102] The first and second deep learning models described above are both existing technologies. Those skilled in the art may use other models to replace the first and second deep learning models of this application as needed, and this application does not impose any restrictions on this.

[0103] The second step is to train the first deep learning model using the first dataset to obtain the tower crane offset prediction model.

[0104] It should be noted that the first dataset can be preprocessed before training the first deep learning model using the first dataset. Preprocessing can include normalization, data cleaning, etc.

[0105] The third step is to train the second deep learning model using the second dataset to obtain the tower crane offset angle prediction model.

[0106] It should be noted that the second dataset can be preprocessed before training the second deep learning model. Preprocessing can include normalization, data cleaning, etc.

[0107] S103. Real-time acquisition of monitoring data of the tower body.

[0108] The monitoring data includes: current offset, current offset direction, wind load, and wind direction.

[0109] S104. Based on the monitoring data of the tower body, determine the future offset and future offset direction of the tower crane through the offset prediction model and the offset angle prediction model.

[0110] The monitoring data is imported into the offset prediction model and the offset angle prediction model to obtain the future offset and the future offset direction.

[0111] It should be noted that the monitoring data should be processed using the same methods as the dataset before being imported into the prediction model for prediction.

[0112] S105. Adjust the position of the compensating arm according to the future offset direction of the tower crane, and control the extension and retraction of the compensating arm according to the future offset amount, so as to control the distance between the gravity compensation component and the tower body.

[0113] In one example, step S105 includes:

[0114] The multiple sets of compensating arms are controlled to rotate simultaneously according to the future offset direction of the tower body, until one of the multiple sets of compensating arms rotates to the same direction or the opposite direction of the future offset direction of the tower body.

[0115] If the compensating arm located in the opposite direction of 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 non-target compensating arms, then the distance between the gravity compensating component on the target compensating arm and the tower body is adjusted to be greater than the distance between the non-target compensating component and the tower body.

[0116] 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 non-target compensating arms, then the distance between the gravity compensating component on the target compensating arm and the tower body is adjusted to be less than the distance between the non-target compensating component and the tower body.

[0117] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A tower crane system, characterized in that The application relates to a tower crane system, which comprises a base, a tower body arranged on the base, a lifting arm configured to lift a load, a balance arm configured to balance the weight of the lifting arm and the load, a first rotating component arranged on the tower body and configured to drive the lifting arm and the balance arm to rotate, a monitoring component configured to monitor the current offset amount and direction of the tower body, wind load and wind direction, and an offset repair component comprising a plurality of compensation arms, a second rotating component, a third rotating component and a control unit. The compensation arm is of a telescopic structure; the control unit is used for predicting the future offset amount and direction of the tower body according to the data monitored by the monitoring component, controlling the second rotating component to drive the plurality of compensation arms to rotate to adjust the position of the compensation arms according to the future offset direction of the tower body, and adjusting the compensation arms to telescope to adjust the distance between the gravity compensation member and the tower body according to the future offset amount of the tower body, so as to compensate for the offset of the tower body and maintain the tower body in a balanced state. The compensation arm comprises a hydraulic rod and a driving unit, and the driving unit is used for driving the hydraulic rod to telescope. The length of the compensation arm is smaller than that of the lifting arm. The plurality of compensation arms are arranged on the tower body at equal angles. The length of each compensation arm in the plurality of compensation arms is equal. The monitoring component comprises a double-axis inclination sensor, a wind load sensor and a wind deflection angle sensor. The offset repair method is used for the tower crane system in any one of claims 1 to 6, and comprises the following steps: constructing a finite element model of the tower crane system, simulating the finite element model of the tower crane system to form a data set, training a model according to the data set to obtain an offset amount prediction model and an offset angle prediction model of the tower crane, collecting monitoring data of the tower body in real time, determining the future offset amount and direction of the tower crane according to the monitoring data of the tower body by using the offset amount prediction model and the offset angle prediction model, adjusting the position of the compensation arm according to the future offset direction of the tower crane, and controlling the compensation arm to telescope according to the future offset amount to control the distance between the gravity compensation member and the tower body.

2. The tower crane system according to claim 1, characterized in that The step of simulating the finite element model of the tower crane system to form a data set comprises the following steps:

3. The tower system according to claim 1, characterized in that taking the offset amount and direction of the tower body at the current time, the wind direction and wind load as independent variables and the offset amount of the tower crane at the next time as a dependent variable, simulating the finite element model to obtain a first data set, and taking the offset amount and direction of the tower body at the current time, the wind direction and wind load as independent variables and the offset direction of the tower body at the next time as a dependent variable, simulating the finite element model to obtain a second data set.

4. The tower system according to claim 1, characterized in that The step of training a model according to the data set to obtain an offset amount prediction model and an offset angle prediction model of the tower crane comprises the following steps:

5. The tower system according to claim 1, characterized in that constructing a first deep learning model and a second deep learning model, training the first deep learning model by using the first data set to obtain the offset amount prediction model of the tower crane, and training the second deep learning model by using the second data set to obtain the offset angle prediction model of the tower crane.

6. The tower crane system according to any one of claims 1 to 5, characterized in that ​ ​ 7. A method of offset repair, characterized by, ​ ​ ​ ​ ​ ​ 8. The offset repair method of claim 7, wherein, ​ ​ ​ 9. The offset repair method of claim 8, wherein, ​ ​ ​ The second deep learning model is trained by using the second data set to obtain a tower crane offset angle prediction model.

10. Offset repair method according to any one of claims 7 to 9, characterized in that, The step of adjusting the position of the compensation arm according to the future offset direction of the tower crane and controlling the compensation arm to extend or retract according to the future offset amount to control the distance between the gravity compensation member and the tower body comprises: controlling a plurality of groups of compensation arms to rotate simultaneously according to the future offset direction of the tower body until a group of compensation arms in the plurality of groups of compensation arms rotates to the same direction or the opposite direction of the future offset direction of the tower body; if a compensation arm located in the opposite direction of the future offset direction of the tower body is taken as a target compensation arm and compensation arms other than the target compensation arm are taken as non-target compensation arms, the distance between the gravity compensation member on the target compensation arm and the tower body is adjusted to be greater than the distance between the gravity compensation members on the non-target compensation arms and the tower body; if a compensation arm located in the same direction of the future offset direction of the tower body is taken as a target compensation arm and compensation arms other than the target compensation arm are taken as non-target compensation arms, the distance between the gravity compensation member on the target compensation arm and the tower body is adjusted to be less than the distance between the gravity compensation members on the non-target compensation arms and the tower body.

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