Tower crane system with offset repair function and offset repair method thereof
By monitoring tower crane offset and adjusting the tower balance using compensating booms and gravity compensators, combined with deep learning models to predict offset, the stability problem of tower cranes in complex environments has been solved, achieving high stability and reliability of the tower crane system.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-11
- Publication Date
- 2026-03-31
AI Technical Summary
Existing tower cranes are prone to swaying and tilting in complex environments, resulting in poor stability, and uneven center of gravity affects the overall stability of the tower crane.
The tower offset and wind load are monitored by a monitoring component. The tower balance is adjusted by the compensating arm and gravity compensator in the offset repair component. The future offset direction and amount are predicted by a deep learning model, and the position of the compensating arm and gravity compensator is controlled to maintain the stability of the tower.
It effectively suppresses tower sway in complex environments, lowers the center of gravity, improves the stability of the tower crane system, prevents collapse, and enhances the reliability of the tower crane in strong winds and adverse geological conditions.
Smart Images
Figure CN120553585B_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of tower cranes, and in particular relates to a tower crane system with offset repair function and the offset repair method thereof. 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 with offset correction function, comprising:
[0007] Base;
[0008] The tower body is mounted on the base;
[0009] The 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 assembly includes multiple sets of compensating arms, a second rotating assembly, a third rotating assembly, and a control unit. The multiple sets of compensating arms are rotatably connected to the tower body via the second rotating assembly, and gravity compensation components that can move along the compensating arms are suspended from each arm. The arms are connected to the third rotating assembly via multiple connecting cables, and the third rotating assembly is mounted on the tower body. The control unit predicts the future offset and direction of the tower body based on data monitored by the monitoring assembly. Based on the future offset direction, it controls the second rotating assembly to drive the multiple sets of compensating arms to rotate and adjust their positions. It also adjusts the position of the gravity compensation components on the compensating arms based on the future offset, thereby compensating for the tower body offset and maintaining the tower body in a balanced state.
[0014] Optionally, the compensating arm has a slide rail, a slider, and a drive unit;
[0015] The gravity compensation component is connected to the slider via a connecting cable. The slider is mounted on a slide rail. The drive unit is used to receive control commands from the control unit to drive the slider to move along the slide rail.
[0016] Optionally, the length of the compensating arm is less than the length of the lifting arm.
[0017] Optionally, the multiple sets of compensating arms are arranged at equal angles on the tower body.
[0018] Optionally, the length of each set of compensating arms in the multiple sets of compensating arms is equal.
[0019] Optionally, the monitoring component includes:
[0020] Dual-axis tilt sensor, wind load sensor, wind deflection angle sensor.
[0021] Secondly, this application provides an offset repair method, which is used in any of the preceding claims for a tower crane system with offset repair function, comprising:
[0022] A finite element model of a tower crane system with offset repair function is constructed, and simulation is performed based on the finite element model of the tower crane system with offset repair function to form a dataset;
[0023] Model training was performed based on the dataset to obtain the tower crane offset prediction model and offset angle prediction model.
[0024] Real-time collection of monitoring data from the tower body;
[0025] Based on the monitoring data of the tower body, the future offset and future offset direction of the tower crane are determined by the offset prediction model and the offset angle prediction model.
[0026] The position of the compensating arm is adjusted according to the future offset direction of the tower crane, and the position of the gravity compensator on the compensating arm is adjusted according to the future offset amount.
[0027] Optionally, the steps for generating a dataset by simulating a tower crane system with offset correction functionality based on a finite element model include:
[0028] 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.
[0029] 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.
[0030] 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:
[0031] Construct the first deep learning model and the second deep learning model;
[0032] The first deep learning model was trained using the first dataset to obtain the tower crane offset prediction model;
[0033] The second deep learning model was trained using the second dataset to obtain the tower crane offset angle prediction model.
[0034] 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:
[0035] 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.
[0036] 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.
[0037] 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.
[0038] The unexpected technical effects of the technical solution provided in this application include:
[0039] 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 gravity compensator to move on the compensating arms to control 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
[0040] 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.
[0041] Figure 1 This is a structural schematic diagram of a tower crane system with offset repair function provided in an embodiment of this application.
[0042] Figure 2 This is a schematic diagram of the distribution of the balance arm provided in one embodiment of this application.
[0043] Figure 3 This is a schematic diagram of the tilt angle (α) of a tower crane provided in an embodiment of this application.
[0044] Figure 4 This is a schematic diagram of the tilt direction (β) of a tower crane provided in an embodiment of this application.
[0045] Figure 5 This is a schematic diagram of an offset compensation process provided in an embodiment of this application.
[0046] Figure 6 This is a schematic diagram of an offset compensation process provided in an embodiment of this application.
[0047] Figure 7 This is a schematic diagram of an offset compensation process provided in an embodiment of this application.
[0048] Figure 8 This is a flowchart of an offset repair method provided in an embodiment of this application.
[0049] The attached figures are labeled as follows:
[0050] 1: Base;
[0051] 2: Tower body; 21: Supporting component; 22: Connecting cable;
[0052] 3: Crane boom; 31: Moving part; 32: Hook; 33: Sling;
[0053] 4: Balance arm; 41: Gravity block;
[0054] 5: First rotating assembly;
[0055] 6: Monitoring components; 61: Wind load sensor; 62: Wind deflection angle sensor; 63: Dual-axis tilt sensor;
[0056] 7: Offset repair component; 71: Compensating arm; 711: Gravity compensation component; 712: Slide rail; 713: Sliding component; 714: Control unit; 72: Second rotation component; 73: Third rotation component; 74: Control unit. Detailed Implementation
[0057] 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.
[0058] Figure 1 This is a schematic diagram of a tower crane system with offset correction function provided in one embodiment of this application. See also... Figure 1 ,include:
[0059] Base 1;
[0060] Tower body 2 is mounted on the base 1;
[0061] Crane boom 3 is configured for lifting heavy objects;
[0062] Counterweight arm 4 is configured to balance the weight of lifting arm 3 and the load.
[0063] 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.
[0064] Monitoring component 6 is configured to monitor the current offset, current offset direction, wind load, and wind direction of tower 2;
[0065] 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. The multiple sets of compensating arms 71 are rotatably connected to the tower body 2 via the second rotating component 72, and gravity compensation components 711 that can move along the compensating arms 71 are suspended on the multiple sets of compensating arms 71. The arms of the multiple sets of compensating arms 71 are connected to the third rotating component 73 via multiple sets of connecting cables 22. The third rotating component 73 is set on the tower body 2. The control unit 74 is used to predict the future offset amount and future offset direction of the tower body 2 based on the data monitored by the monitoring component 6. 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, and adjusts the position of the gravity compensation component 711 on the compensating arms 71 based on the future offset amount of 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.
[0066] In one example, base 1 is a concrete base.
[0067] 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.
[0068] In one example, a gravity block 41 is provided on the balance arm 4.
[0069] In one example, the monitoring component 6 includes:
[0070] Wind load sensor 61, wind deflection angle sensor 62, dual-axis tilt sensor 63.
[0071] 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.
[0072] In one example, the compensating arm 71 has a slide rail 712, a slider 713, and a drive unit 714.
[0073] The gravity compensation component 711 is connected to the slider 713 via the connecting cable 22. The slider 713 is mounted on the slide rail 712. The drive unit 714 is used to receive control commands from the offset control unit 74 to drive the slider 713 to move along the slide rail 712.
[0074] In one example, the length of the compensating arm 71 is less than the length of the lifting arm 3.
[0075] 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.
[0076] 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.
[0077] 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.
[0078] As an example, the length of the compensating arm 71 is 1 / 4 to 1 / 2 of the length of the lifting arm 3.
[0079] 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.
[0080] For ease of understanding this application Figure 1Regarding 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.
[0081] In one example, each of the multiple sets of compensating arms 71 has the same length.
[0082] 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.
[0083] It should be noted that the function of the second rotating component in this application is to drive the compensating arm to rotate, and the function of the third rotating component is to cooperate with the rotation of the compensating arm to synchronously control the rotation of the connecting cable connecting the third rotating component and the compensating arm, so as to avoid the connecting cable from getting tangled on the tower body due to the rotation of the compensating arm.
[0084] The connecting cable between the third rotating component and the compensating arm serves to ensure that the force exerted by the gravity compensator on the compensating arm is evenly distributed along the arm's length. The gravity compensator is generally heavy and needs to move along the arm. If it moves to the middle of the arm's length, insufficient strength in the arm's structure, coupled with the weight of the gravity compensator, could lead to breakage, posing a safety risk. The connecting cable further reduces the possibility of breakage.
[0085] As an example, the compensating arm used in this application can be a one-piece structure to ensure the strength of the compensating arm body.
[0086] 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.
[0087] 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).
[0088] 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.
[0089] Please see Figure 7 When the target compensating arm rotates to the offset direction, the position of the gravity compensating component 711 on the target compensating arm is adjusted. By adjusting the position of the gravity compensating component 711, 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 of the tower body to suppress the tilt of the tower body.
[0090] Figure 8 This is a flowchart illustrating an offset repair method provided in an embodiment of this application. See also... Figure 8 ,include:
[0091] S101. Construct a finite element model of a tower crane system with offset repair function, and perform simulation based on the finite element model of the tower crane system with offset repair function to form a dataset.
[0092] In one example, step S101 includes:
[0093] The first step is to obtain the geometric and physical parameters of the tower crane.
[0094] The second step is to establish a three-dimensional model of the tower crane based on its geometric parameters.
[0095] Among them, with Figure 1 A three-dimensional model of the tower crane system was created.
[0096] The third step is to mesh the 3D model of the tower crane to generate a finite element model.
[0097] The fourth step is to assign material properties to each part of the finite element model based on physical parameters.
[0098] 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.
[0099] 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.
[0100] 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.
[0101] S102. Train the model based on the dataset to obtain the tower crane offset prediction model and offset angle prediction model.
[0102] In one example, step S102 includes:
[0103] The first step is to build the first deep learning model and the second deep learning model.
[0104] 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.).
[0105] Among them, physical constraints can be mechanical equation constraints, which constrain the moment balance state of the compensating arm and the moment balance state of the tower body.
[0106] 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.
[0107] 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.
[0108] The second step is to train the first deep learning model using the first dataset to obtain the tower crane offset prediction model.
[0109] It should be noted that before using the first dataset to train the first deep learning model, the first dataset can be preprocessed, such as normalization or data cleaning.
[0110] The third step is to train the second deep learning model using the second dataset to obtain the tower crane offset angle prediction model.
[0111] It should be noted that before using the second dataset to train the second deep learning model, the second dataset can be preprocessed, such as normalization or data cleaning.
[0112] S103. Real-time acquisition of monitoring data of the tower body.
[0113] The monitoring data includes: current offset, current offset direction, wind load, and wind direction.
[0114] 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.
[0115] 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.
[0116] It should be noted that if the data in the dataset has been preprocessed, the monitoring data of the tower body will be preprocessed using the same method.
[0117] S105. Adjust the position of the compensating arm according to the future offset direction of the tower crane, and adjust the position of the gravity compensator on the compensating arm according to the future offset amount.
[0118] In one example, step S105 includes:
[0119] 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.
[0120] 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.
[0121] 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.
[0122] 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 having a deviation repair function, characterized by, The application relates to a tower crane system with an offset repair function, 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 provided with a sliding rail, a sliding piece and a driving unit. The length of the compensation arm is less 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 with the offset repair function, and comprises the following steps: A finite element model of the tower crane system with the offset repair function is constructed, and simulation is performed according to the finite element model to form a data set; 2. The tower crane system with offset repair function according to claim 1, characterized in that, Model training is performed according to the data set to obtain an offset amount prediction model and an offset angle prediction model of the tower crane; Monitoring data of the tower body are collected in real time; 3. The tower crane system with offset repair function according to claim 1, characterized in that, The future offset amount and direction of the tower crane are determined through the offset amount prediction model and the offset angle prediction model according to the monitoring data of the tower body; 4. The tower crane system with offset repair function according to claim 1, characterized in that, The position of the compensation arm is adjusted according to the future offset direction of the tower crane, and the position of the gravity compensation piece on the compensation arm is adjusted according to the future offset amount.
5. The tower crane system with offset repair function according to claim 1, characterized in that, The step of performing simulation according to the finite element model of the tower crane system with the offset repair function to form a data set comprises the following steps:
6. The tower crane system with offset repair function according to any one of claims 1 to 5, characterized in that, The offset amount, offset direction, wind direction and wind load of the tower body at the current time are taken as independent variables, and the offset amount of the tower crane at the next time is taken as a dependent variable, and simulation is performed according to the finite element model to obtain a first data set; The offset amount, offset direction, wind direction and wind load of the tower body at the current time are taken as independent variables, and the offset direction of the tower body at the next time is taken as a dependent variable, and simulation is performed according to the finite element model to obtain a second data set.
7. A method of offset repair, characterized by, The step of performing model training according to the data set to obtain the offset amount prediction model and the offset angle prediction model of the tower crane comprises the following steps: 8. The offset repair method of claim 7, wherein, 9. The offset repair method of claim 8, wherein, constructing a first deep learning model and a second deep learning model; training the first deep learning model by using a first data set to obtain a tower crane offset amount prediction model; training the second deep learning model by using a 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 offset direction of the tower body and adjusting the distance between the gravity compensation member and the tower body according to the offset amount comprises: controlling a plurality of sets of compensation arms to rotate simultaneously according to the future offset direction of the tower body until one set 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 the 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 the 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.
Citation Information
Patent Citations
Tower crane system and offset repairing method thereof
CN120553584A