Iron tower hoisting method and device, computer equipment and storage medium

Abstract

The invention relates to an iron tower hoisting method and device, computer equipment and a storage medium. The method comprises the steps that the total wind load acting force and the winch torque are determined according to hoisting data obtained in advance; controlling a winch to hoist an iron tower according to the total wind load acting force and the winch torque; and attitude data of the iron tower in the hoisting process are obtained, and the hoisting operation of the winch is adjusted according to the attitude data. The method can guarantee stable lifting of the iron tower in the lifting process.

Description

Technical Field

[0001] The present application relates to the technical field of power transmission network construction, and in particular to a tower method, apparatus, computer equipment, and storage medium. Background Art

[0002] With the development of power technology, the construction of wind farms and solar farms has been accelerated. Among them, the assembly and disassembly of steel towers for power transmission has become a key project in power farm construction.

[0003] Currently, during the assembly and disassembly process of a tower, it is often necessary to hoist the tower. Therefore, how to ensure the smooth lifting and lowering of the tower during the hoisting process has become an urgent problem to be solved. Summary of the Invention

[0004] Based on this, it is necessary to provide a tower hoisting method, device, computer equipment and storage medium to address the above technical problems, which can control the winch to ensure the smooth lifting of the tower during the hoisting process.

[0005] In a first aspect, the present application provides a tower hoisting method, comprising:

[0006] Determine the total wind load force and winch torque based on the pre-acquired hoisting data;

[0007] Control the winch to hoist the tower according to the total wind load force and winch torque;

[0008] Obtain the tower's posture data during the hoisting process and adjust the hoisting operation of the winch based on the posture data.

[0009] In one embodiment, the hoisting data includes wind data, hoist data, and tower data; determining the total wind load force and hoist torque based on the pre-acquired hoisting data includes:

[0010] Determine the total wind load force based on wind data, tower data and pre-established mechanical models;

[0011] The winch torque is determined based on wind data, winch data and pre-established torque relationships.

[0012] In one embodiment, the wind data includes a wind speed coefficient, a wind direction, a wind load adjustment coefficient, and a wind load action angle; the tower data includes a tower shape and a windward projected area; and the total wind load force is determined based on the wind data, the tower data, and a pre-established mechanical model, including:

[0013] Determine the wind pressure body coefficient according to wind direction and tower shape;

[0014] The wind speed coefficient, wind pressure body coefficient, wind load adjustment coefficient, wind load action angle and windward projection area are input into the mechanical model for calculation to obtain the total wind load force.

[0015] In one embodiment, the wind data includes a plurality of height segments to which wind loads act, the original wind loads of each height segment, and the wind load adjustment coefficients of each height segment; the hoist data includes the body coefficient and projected area of ​​each height segment; and the hoist torque is determined based on the wind data, the hoist data, and a pre-established torque relationship, including:

[0016] The height segments subject to multiple wind loads, the original wind load of each height segment, the wind load adjustment coefficient of each height segment, the shape coefficient and the projected area of ​​each height segment are substituted into the moment relationship, and the moment of the wind load on the root of the winch is calculated to obtain the winch torque.

[0017] In one embodiment, controlling a hoist to hoist a tower according to the total wind load force and the hoist torque includes:

[0018] Determine the tower lifting speed based on the total wind load force;

[0019] Determine the lifting angle of the tower according to the winch torque;

[0020] The winch is controlled according to the lifting speed and lifting angle to perform hoisting operations on the tower.

[0021] In one embodiment, the posture data includes acceleration data, and adjusting the hoisting operation of the hoist according to the posture data includes:

[0022] Determine the stress state and motion state of the tower based on acceleration data;

[0023] Determine the tilt state of the tower based on acceleration data;

[0024] Adjust the hoisting operation of the winch according to the stress state, movement state and tilt state of the tower.

[0025] In one embodiment, the method further comprises:

[0026] Determining first measurement data of the tower using real-time dynamic carrier phase difference technology;

[0027] Determine the second measurement data of the tower using pulse ultra-wideband technology;

[0028] fusing the first measurement data and the second measurement data using a Bayesian algorithm to obtain monitoring information of the tower; wherein the monitoring information includes at least one of position information, attitude information, and offset information of the tower;

[0029] Determine the safety monitoring results of the tower based on the monitoring information.

[0030] In a second aspect, the present application further provides a tower hoisting device, comprising:

[0031] A load moment determination module, used to determine the total wind load force and winch moment based on pre-acquired hoisting data;

[0032] a hoisting control module, configured to control the hoist to perform hoisting operations on the iron tower according to the total wind load force and the hoist torque;

[0033] The hoisting adjustment module is used to obtain the posture data of the tower during the hoisting process and adjust the hoisting operation of the winch according to the posture data.

[0034] In a third aspect, the present application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the method as described in any one of the first aspects when executing the computer program.

[0035] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which implements the method as described in any one of the first aspects when the computer program is executed by a processor.

[0036] In a fifth aspect, the present application further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the method as described in any one of the first aspects.

[0037] The tower hoisting method, apparatus, computer device, and storage medium described above determine the total wind load force and hoist torque based on pre-acquired hoisting data; control the hoist to hoist the tower based on the total wind load force and hoist torque; obtain tower posture data during the hoisting process, and adjust the hoisting operation based on the posture data. The embodiments of this application comprehensively consider the effects of wind load, tower structure, and tower posture on hoisting operations, controlling the hoist to ensure stability and safety during tower lifting under complex conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0039] Figure 1 1. FIG. 1 is an application environment diagram of a tower hoisting method in one embodiment;

[0040] Figure 2 1. A schematic flow chart of a tower hoisting method according to an embodiment;

[0041] Figure 3 FIG1 is a flow chart of the steps for determining the total wind load force and the hoist torque in one embodiment;

[0042] Figure 4 FIG1 is a flow chart of the steps for determining the total wind load force in one embodiment;

[0043] Figure 5 A schematic flow chart of steps for controlling a hoist to hoist an iron tower in one embodiment;

[0044] Figure 6 A schematic flow chart of steps for adjusting the hoisting operation of a winch in one embodiment;

[0045] Figure 7 1 is a flow chart of monitoring steps during the tower hoisting process in one embodiment;

[0046] Figure 8 1 is a structural block diagram of an iron tower hoisting device in one embodiment;

[0047] Figure 9 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0049] Before specifically introducing the technical solutions of the embodiments of this application, we will first introduce the technical background or technological evolution of the embodiments of this application. With the development of power technology, the construction of wind farms and solar farms has accelerated. Among them, the assembly and disassembly of iron towers for power transmission has become a key project in power plant construction. Currently, during the assembly and disassembly process, the towers often need to be hoisted. Therefore, how to ensure the smooth raising and lowering of the towers during the hoisting process has become a pressing issue.

[0050] To address the above issues, an embodiment of the present application provides a tower hoisting method. This method determines the total wind load force and hoist torque based on pre-acquired hoisting data; controls the hoist to hoist the tower based on the total wind load force and hoist torque; obtains tower posture data during the hoisting process, and adjusts the hoisting operation based on the posture data. This embodiment of the present application comprehensively considers the impact of wind load, tower structure, and tower posture on the hoisting operation, controlling the hoist to ensure the stability and safety of tower lifting under complex conditions.

[0051] The tower hoisting method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown, the application environment includes a hoist 101 and a computer device 102, which communicate with the hoist 101 via a network. The computer device 102 can obtain hoisting data, determine the total wind load force and hoist torque based on the hoisting data, and control the hoist 101 to hoist the tower based on the total wind load force and hoist torque.

[0052] In some embodiments, the application environment may further include data acquisition equipment, such as an acceleration sensor, an inclination sensor, etc. The data acquisition equipment acquires attitude data of the tower and sends the attitude data to the computer device 102; the computer device adjusts the hoisting operation of the tower by the winch according to the attitude data.

[0053] The winch 101 is a mechanical device that uses an electric motor to drive a drum, winding a wire rope or chain to lift, pull or hoist heavy objects. According to the power method, winches can be divided into three categories: electric, manual and hydraulic. Electric winches are the most common, with strong power and high efficiency; manual winches are suitable for situations where there is a lack of power or small loads; hydraulic winches are used for heavy-duty operations that require high safety and stability. According to the number of drums, there are single-drum and double-drum winches. Single-drum winches have a simple structure and are used for general lifting and pulling; double-drum winches can perform two actions simultaneously, with higher lifting efficiency.

[0054] The computer device 102 may be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, etc.

[0055] In an exemplary embodiment, Figure 2 As shown, a tower hoisting method is provided, which is applied to Figure 1 Taking the computer device in the example as an example, the following steps may be included:

[0056] Step 201 : determining the total wind load force and the hoist torque respectively according to the hoisting data acquired in advance.

[0057] Among them, the hoisting data includes data related to wind, winch and tower; the total wind load force is used to represent the total force of wind load on the tower; the winch torque is used to represent the torque of wind load on the root of the winch.

[0058] The computer device can obtain hoisting data input by the user through an input device (such as a keyboard, touch screen, etc.), or it can query hoisting data from a preset database. When hoisting a tower, the impact of wind load on the tower is analyzed based on the hoisting data to obtain the total wind load force. The impact of wind load on the winch is analyzed based on the hoisting data to obtain the winch torque.

[0059] In some embodiments, a first deep learning model for calculating the total wind load force can be pre-trained. Before hoisting the tower, the hoisting data is input into the first deep learning model for analysis and processing to obtain the total wind load force.

[0060] In some embodiments, a second deep learning model for calculating the hoist torque can be pre-trained. Before hoisting the tower, the hoisting data is input into the second deep learning model for analysis and processing to obtain the hoist torque.

[0061] It should be noted that the method for determining the total wind load force and the winch torque is not limited to the above example, and other methods can also be used.

[0062] Step 202: Control the winch to hoist the tower according to the total wind load force and the winch torque.

[0063] The hoisting operation includes at least one of raising the height of the tower, lowering the height of the tower, adjusting the lifting speed of the tower, and adjusting the lifting angle of the tower.

[0064] In some embodiments, after determining the total wind load force, the computer device generates a first control instruction based on the total wind load force and sends the first control instruction to the hoist. The hoist receives the first control instruction and raises or lowers the tower height according to the first control instruction, and adjusts the tower raising and lowering speed according to the first control instruction.

[0065] After determining the hoist torque, the computer device generates a second control instruction based on the hoist torque and sends the second control instruction to the hoist. The hoist receives the second control instruction and adjusts the lifting angle of the tower according to the second control instruction.

[0066] In other embodiments, after determining the total wind load force and the hoist torque, the computer device generates a third control instruction based on the total wind load force and the hoist torque, and sends the third control instruction to the hoist. The hoist receives the third control instruction and, based on the third control instruction, raises or lowers the tower height, and adjusts the tower's lifting speed and angle.

[0067] Step 203: Acquire the posture data of the tower during the hoisting process, and adjust the hoisting operation of the winch according to the posture data.

[0068] During the hoisting process, data acquisition equipment collects data on the tower's posture. A computer retrieves this data and analyzes whether the tower is shifting or tipping over. Based on the analysis, it generates adjustment instructions and sends them to the hoist. The hoist then adjusts the tower's lifting speed and angle accordingly.

[0069] In the above embodiment, the total wind load force and hoist torque are determined based on pre-acquired hoisting data; the hoist is controlled to hoist the tower based on the total wind load force and hoist torque; the tower's posture data during the hoisting process is obtained, and the hoisting operation of the hoist is adjusted based on the posture data. The embodiment of the present application comprehensively considers the impact of wind load, tower structure, and tower posture on the hoisting operation, and controls the hoist to ensure the stability and safety of the tower lifting under complex conditions.

[0070] In an exemplary embodiment, the hoisting data includes wind data, hoist data and tower data; Figure 3 As shown, in the above embodiment, “determining the total wind load force and the hoist torque according to the pre-acquired hoisting data” may include the following steps:

[0071] Step 301: Determine the total wind load force based on wind data, tower data and a pre-established mechanical model.

[0072] A mechanical model is established in advance based on the impact of wind load on the tower. After obtaining wind data and tower data, the wind data and tower data are input into the mechanical model for calculation to obtain the total wind load force.

[0073] Step 302: Determine the hoist torque based on the wind data, the hoist data and the pre-established torque relationship.

[0074] A torque relationship is established in advance based on the effect of wind load on the winch. After obtaining wind data and winch data, the wind data and winch data are substituted into the torque relationship for calculation to obtain the winch torque.

[0075] It should be noted that the order of the above steps can be adjusted according to actual conditions and is not limited to the above examples.

[0076] In the above embodiment, the total wind load force is determined based on wind data, tower data, and a pre-established mechanical model; the hoist torque is determined based on wind data, hoist data, and a pre-established torque relationship. The present embodiment utilizes a pre-established mechanical model and torque relationship to quickly and accurately determine the total wind load force and hoist torque, providing a basis for controlling the hoist during hoisting operations under complex conditions.

[0077] In an exemplary embodiment, the wind data includes wind speed coefficient, wind direction, wind load adjustment coefficient and wind load action angle; the tower data includes tower shape and windward projected area; Figure 4 As shown, in the above embodiment, “determining the total wind load force based on wind data, tower data, and a pre-established mechanical model” may include the following steps:

[0078] Step 3011, determine the wind pressure body coefficient according to the wind direction and the tower shape.

[0079] The wind pressure system coefficient refers to the coefficient corresponding to the actual pressure caused by wind acting on the tower. It should be noted that different tower sizes and surface shapes correspond to different wind pressure system coefficients.

[0080] A mapping relationship between wind direction, tower shape, and wind pressure form coefficient is pre-established. After obtaining the wind direction and tower shape, the wind direction and tower shape are substituted into the above mapping relationship to calculate the wind pressure form coefficient.

[0081] In step 3012, the wind speed coefficient, wind pressure body coefficient, wind load adjustment coefficient, wind load action angle, and windward projected area are input into the mechanical model for calculation to obtain the total wind load force.

[0082] The pre-established mechanical model can be expressed as formula (1):

[0083]

[0084] Where, F is the total wind load force (unit is N); W i Wind speed coefficient, related to the current wind speed level; μ i is the wind pressure body coefficient; A i is the windward projection area (unit: m2), which depends on the size of the windward surface of the tower; β i is the wind load adjustment coefficient, which is used to correct the wind load size; θ i is the angle of wind load action.

[0085] The computer equipment substitutes the obtained wind speed coefficient, wind pressure body coefficient, wind load adjustment coefficient, wind load action angle and windward projection area into formula (1) for calculation to obtain the total wind load force.

[0086] In the above embodiment, the wind pressure form factor is determined based on the wind direction and tower shape; the wind speed coefficient, wind pressure form factor, wind load adjustment coefficient, wind load angle, and windward projected area are input into the mechanical model for calculation to obtain the total wind load force. This embodiment of the present application fully considers the impact of wind load on the tower and can control the hoist to ensure the stability and safety of the tower under different wind load conditions.

[0087] In an exemplary embodiment, the wind data also includes multiple height segments where wind loads act, the original wind loads of each height segment and the wind load adjustment coefficients of each height segment; the winch data includes the shape coefficient and projected area of ​​each height segment.

[0088] In the above embodiment, "determining the winch torque based on wind data, winch data and a pre-established torque relationship" may include: substituting multiple height segments affected by wind loads, the original wind load of each height segment, the wind load adjustment coefficient of each height segment, the body coefficient and the projected area of ​​each height segment into the torque relationship, and calculating the torque of the wind load on the root of the winch to obtain the winch torque.

[0089] The pre-established torque relationship can be expressed as formula (2):

[0090]

[0091] Where, M is the winch torque (unit: N·m); Q j is the wind load at the jth height segment (in N); H j is the jth height of wind load (in m); W sj is the original wind load of the jth height segment, μ zj is the system coefficient of the j-th height segment, A sj is the projected area of ​​the jth height segment, β zj is the wind load adjustment coefficient for the jth height segment, and k is the total number of height segments.

[0092] The computer equipment substitutes the original wind load of each height segment, the wind load adjustment coefficient of each height segment, the shape coefficient and the projected area of ​​each height segment into the above torque relationship to calculate and obtain the winch torque.

[0093] In the above embodiment, the wind loads acting on multiple height segments, the original wind loads for each height segment, the wind load adjustment coefficients for each height segment, the shape coefficients for each height segment, and the projected area are substituted into the torque relationship to calculate the torque exerted by the wind load on the root of the winch to obtain the winch torque. This embodiment of the present application fully considers the impact of wind loads on the winch and can control the winch to ensure the stability and safety of tower lifting under different wind load conditions.

[0094] In an exemplary embodiment, Figure 5 As shown, in the above embodiment, "controlling the hoist to hoist the iron tower according to the total wind load force and the hoist torque" may include the following steps:

[0095] Step 401: Determine the lifting speed of the tower according to the total wind load force.

[0096] In some embodiments, a first correspondence between the total wind load force and the lifting speed is pre-established. For example, the total wind load force F1 corresponds to a tower raising speed v1, the total wind load force F2 corresponds to a tower raising speed v2, the total wind load force F3 corresponds to a tower lowering speed v3, and the total wind load force F4 corresponds to a tower lowering speed v4.

[0097] After the total wind load force is calculated, the lifting and lowering speed of the tower corresponding to the total wind load force can be found according to the first corresponding relationship.

[0098] In other embodiments, a second correspondence between force intervals and lifting speeds is pre-established. For example, the force interval [f1, f2] corresponds to a tower raising speed of v1, the force interval [f2, f3] corresponds to a tower raising speed of v2; the force interval [f4, f5] corresponds to a tower lowering speed of v3, and the force interval [f5, f6] corresponds to a tower lowering speed of v4.

[0099] After the total wind load force is calculated, the target force range of the total wind load force is determined, and the lifting speed of the tower corresponding to the target force range can be found according to the second corresponding relationship.

[0100] Step 402: Determine the lifting angle of the tower according to the winch torque.

[0101] In some embodiments, a third correspondence between hoist torque and lifting angle is pre-established. For example, hoist torque M1 corresponds to a tower raising angle of θ1, hoist torque M2 corresponds to a tower raising angle of θ2, hoist torque M3 corresponds to a tower lowering angle of θ3, and hoist torque M4 corresponds to a tower lowering angle of θ4.

[0102] After the hoist torque is calculated, the lifting angle of the tower corresponding to the hoist torque can be found according to the third corresponding relationship.

[0103] In other embodiments, a fourth correspondence between torque intervals and speeds is pre-established. For example, the torque interval [m1, m2] corresponds to a tower raising angle of θ1, the torque interval [m2, m3] corresponds to a tower raising angle of θ2; the torque interval [m4, m5] corresponds to a tower lowering angle of θ3, and the torque interval [m5, m6] corresponds to a tower lowering angle of θ4.

[0104] After the hoist torque is calculated, the target torque range of the hoist torque is determined, and then the lifting angle of the tower corresponding to the target torque range can be found according to the fourth corresponding relationship.

[0105] Step 403: Control the winch to hoist the tower according to the lifting speed and lifting angle.

[0106] A control command is generated according to the lifting speed and lifting angle, and the control command is sent to the winch; the winch receives the control command and performs the tower lifting operation according to the control command.

[0107] In the above embodiment, the tower's lifting speed is determined based on the total wind load; the tower's lifting angle is determined based on the hoist torque; and the hoist is controlled to hoist the tower based on the lifting speed and lifting angle. The present embodiment separately determines the lifting speed and lifting angle, allowing for precise control of the hoisting operation and a more stable tower hoisting process.

[0108] In an exemplary embodiment, the data acquisition device may include an acceleration sensor and an inclination sensor, and the posture data includes acceleration data, such as Figure 6 As shown, in the above embodiment, “adjusting the hoisting operation of the winch according to the posture data” may include the following steps:

[0109] Step 501: Determine the stress state and motion state of the tower according to acceleration data.

[0110] The accelerometer can collect real-time acceleration data (a_x, a_y, and a_z) of the tower in the x, y, and z directions. Based on Newton's second law F = ma (F is the force, m is the mass of the tower), the forces acting on the tower in different directions can be determined.

[0111] For example, the x-axis force F_x = m × a_x, the y-axis force F_y = m × a_y, and the z-axis force F_z = m × a_z. By collecting acceleration data in these three directions, we can fully understand the forces acting on the tower in space. This is crucial for determining whether the tower is subject to uneven external forces during the lifting process, as these forces can cause the tower to become unbalanced.

[0112] During the tower's ascent and descent, if wind loads or unbalanced loads are encountered, the acceleration data collected by the accelerometer can quickly detect the resulting acceleration changes and monitor the tower's dynamic motion based on these changes. For example, based on these acceleration changes, it can be determined whether the tower is in a steady ascent, accelerating, or decelerating ascent phase, and whether it is experiencing abnormal vibration or shaking.

[0113] Step 502: Determine the tilt state of the tower based on the acceleration data.

[0114] The tilt sensor can calculate the tilt angle α (unit: radian) of the tower using a pre-set tilt calculation model. The tilt calculation model is as shown in formula (3):

[0115]

[0116] Where a_x, a_y, and a_z are the acceleration data collected by the accelerometer along the tower's x, y, and z axes, respectively. Substituting these acceleration data into the above formula, we can calculate the tower's tilt angle relative to the vertical.

[0117] For example, when a tower tilts due to various factors (such as foundation settlement, component installation errors, or external forces), the inclination sensor can accurately measure the tilt angle.

[0118] The computer determines the tower's balance based on the tilt angle measured by the inclination sensor, thereby determining its tilt state. For example, a normally stable tower would have a tilt angle α close to 0 radians (i.e., vertical). If the tower is tilted, α would deviate from 0. The computer then determines the tower's tilt based on the tilt angle α.

[0119] In some embodiments, a filtering algorithm can be combined to improve the accuracy of the data. The tilt angle is smoothed by a Kalman filter, and the filtering process is as shown in formula (4):

[0120]

[0121] in, is the current state estimate; is the estimated value of the previous state; Kk is the Kalman gain; z k is the current observation value, that is, the current tilt angle; H is the state transfer matrix.

[0122] Step 503: Adjust the hoisting operation of the winch according to the stress state, movement state and tilt state of the tower.

[0123] Different adjustment strategies are pre-established based on different stress states, motion states, and tilt states. These strategies include adjusting the lifting speed and the lifting angle. Adjusting the lifting angle can involve increasing or decreasing the support force at a specific tower support point, correcting the tower's tilt and ensuring it remains within a safe range during the lifting process.

[0124] After determining the tower's stress, motion, and tilt states, the corresponding target adjustment strategy is determined. Adjustment instructions are then generated based on the target adjustment strategy and sent to the hoist. The hoist receives the adjustment instructions and adjusts the hoisting operation accordingly.

[0125] For example, if the tower's allowable tilt angle range is ±α_max, and |α| > α_max, the computer generates an adjustment command and sends it to the hoist. The hoist then adjusts the tower's tilt angle and load state accordingly, restoring the tower to a balanced state.

[0126] In the above-described embodiment, the tower's stress and motion states are determined based on acceleration data; the tower's tilt state is determined based on the acceleration data; and the hoisting operation of the winch is adjusted based on the tower's stress, motion, and tilt states. In the present embodiment, the acceleration data provides information about the tower's stress and motion states, while the tilt angle provides a visual, quantitative indicator of the tower's posture. These two data elements work together to provide a data foundation for ensuring the tower's posture balance during the lifting process. Based on this, the winch can adjust the tower's posture in real time to prevent the tower from shifting or toppling.

[0127] In an exemplary embodiment, Figure 7 As shown, the embodiment of the present application can also monitor during the tower hoisting process, including the following steps:

[0128] Step 601: Determine first measurement data of the tower using real-time dynamic carrier phase difference technology.

[0129] Among them, Real-Time Kinematic (RTK) phase differential technology uses the carrier phase differential principle of the global positioning system (GPS, GLONASS, etc.) to achieve high-precision positioning by establishing a communication link between the base station and the mobile station.

[0130] During tower installation, real-time dynamic carrier phase differential technology provides high-precision position information of the tower in the geodetic coordinate system, including three-dimensional coordinates (x, y, z). It can also accurately measure the position of the tower top or key locations relative to a reference station. Computer equipment can then determine this position information as the tower's first measurement data.

[0131] Step 602: Determine second measurement data of the tower using pulse ultra-wideband technology.

[0132] Impulse Radio Ultra-Wide Band (IR-UWB) is a communication technology that achieves extremely high-speed data transmission by sending narrow pulses in the sub-nanosecond range. IR-UWB measures distance and position by sending and receiving ultra-wideband pulse signals.

[0133] Before the tower is erected, UWB sensors can be installed at various locations on the tower. Later, during the erection process, the distance between the UWB sensors can be determined based on the signals transmitted between them. The distance between the UWB sensors and a reference point can also be determined based on the signals transmitted between them. Based on these distances, the tower's geometry and relative position can be determined. The computer device can then use these determined geometry and relative position as second tower measurement data.

[0134] Step 603: The first measurement data and the second measurement data are fused using a Bayesian algorithm to obtain monitoring information of the tower.

[0135] The monitoring information includes at least one of the tower's position information, attitude information, and offset information.

[0136] Determine the prior probability P(x): This is based on the tower's historical state information or empirical data. For example, based on historical monitoring data, calculate the distribution of the tower's position and posture under normal conditions and use this as the prior probability distribution. Assuming that the tower's position normally follows a normal distribution with mean μ and variance σ^2, P(x) can be expressed as N(x|μ,σ^2). This prior probability distribution reflects the initial estimate of the tower's state, assuming no current observations are made.

[0137] Constructing the likelihood function P(z|x): Construct a likelihood function for each of the first and second measurement data. For the first measurement data z_RTK, assuming the RTK measurement error follows a normal distribution with a standard deviation of ∈_RTK, then P(z_RTK|x) = N(z_RTK|x, ∈_RTK^2). This represents the probability of obtaining the current RTK measurement value z_RTK when the tower is in state x. Similarly, for the second measurement data z_UWB, assuming the standard deviation of its measurement error is ∈_UWB, then P(z_UWB|x) = N(z_UWB|x, ∈_UWB^2).

[0138] Determining the Joint Likelihood Function: When considering the simultaneous use of the first and second measurements, assuming the two measurements are independent (a reasonable assumption under certain conditions), the joint likelihood function is P(z|x) = P(z_RTK|x)P(z_UWB|x). In other words, P(z|x) = N(z_RTK|x, ∈_RTK^2)N(z_UWB|x, ∈_UWB^2). This means that when the tower is in state x, the probability of both the RTK measurement z_RTK and the UWB measurement z_UWB occurring simultaneously is the product of their respective likelihood functions.

[0139] Calculate the posterior probability:

[0140] Using the Bayesian algorithm P(x|z) = P(z|x)P(x) / P(z), we substitute the joint likelihood function and the prior probability to calculate the posterior probability P(x|z), where z includes both z_RTK and z_UWB. This posterior probability P(x|z) combines the prior information with the current RTK and UWB measurement data, providing a more accurate estimate of the tower's state x under the current observations.

[0141] It can be understood that fusing the first measurement data and the second measurement data using the Bayesian algorithm has the following advantages:

[0142] 1) Improve data reliability:

[0143] By combining RTK and UWB, two different measurement technologies, and then fusing the data using a Bayesian algorithm, the impact of measurement errors from a single technology can be reduced. For example, if RTK measurement data is inaccurate due to poor satellite signals, UWB measurement data can be used to correct the tower state estimate through Bayesian fusion, and vice versa. Because the Bayesian algorithm considers prior probabilities and the measurement likelihood functions of both technologies, it integrates multi-source information to obtain a more accurate tower state estimate, thereby improving the system's reliability in monitoring tower attitude and offset.

[0144] 2) Enhanced state estimation accuracy:

[0145] The Bayesian algorithm adaptively updates the tower's state estimate. As new measurement data is continuously input, the posterior probability is continuously updated, bringing the tower's state estimate closer to its true state. For example, as new RTK and UWB measurement data is generated over time, P(x|z) is continuously updated based on this data, resulting in a more accurate estimate of the tower's position, attitude, and offset.

[0146] 3) Uncertainty quantification:

[0147] The Bayesian algorithm not only provides an estimate of the tower's state (e.g., through the mean of the posterior probability distribution), but also provides the uncertainty of the estimate (through the variance of the posterior probability distribution). This is very important for assessing the credibility of monitoring results. For example, a small variance of the posterior probability distribution indicates a relatively accurate estimate of the tower's state, while a large variance indicates a high degree of uncertainty. In some embodiments, appropriate measures can be taken based on this information, such as increasing the measurement frequency or checking whether the sensor is functioning properly.

[0148] Step 604: Determine the safety monitoring result of the tower based on the monitoring information.

[0149] Posterior probabilities derived from Bayesian algorithms can improve decision-making and early warning. For example, if the posterior probability indicates a high probability that the tower's posture deviation has exceeded a set safety threshold, the safety monitoring result will be determined to indicate a potential safety hazard. A timely alarm can be issued, notifying relevant personnel to take appropriate measures to ensure the tower's safety during construction.

[0150] In the above embodiment, real-time dynamic carrier phase difference technology is used to determine the first measurement data of the tower; pulse ultra-wideband technology is used to determine the second measurement data of the tower; the first and second measurement data are fused using a Bayesian algorithm to obtain tower monitoring information; and the tower safety monitoring results are determined based on the monitoring information. RTK and UWB technologies are fused using a Bayesian algorithm, integrating data from both technologies within a probabilistic framework. This leverages the strengths of each technology, improving the reliability and accuracy of tower attitude and offset monitoring. It also quantifies the uncertainty of the monitoring results, providing strong support for optimized decision-making and early warning, and enhancing monitoring performance and reliability.

[0151] In an exemplary embodiment, a tower hoisting method is provided, wherein the method is applied to Figure 1 Taking the computer device in the example as an example, the following steps may be included:

[0152] Step 1: Obtain lifting data.

[0153] Among them, the hoisting data includes wind data, winch data and tower data; wind data includes wind speed coefficient, wind direction, wind load adjustment coefficient and wind load action angle; tower data includes tower shape and windward projected area; wind data also includes multiple height segments where wind loads act, the original wind load of each height segment and the wind load adjustment coefficient of each height segment; winch data includes the body coefficient and projected area of ​​each height segment.

[0154] Step 2: Determine the wind pressure body coefficient according to the wind direction and tower shape; input the wind speed coefficient, wind pressure body coefficient, wind load adjustment coefficient, wind load action angle and windward projection area into the mechanical model for calculation to obtain the total wind load force.

[0155] Step 3: Substitute the height segments affected by multiple wind loads, the original wind load of each height segment, the wind load adjustment coefficient of each height segment, the body coefficient and the projected area of ​​each height segment into the moment relationship, calculate the moment of the wind load on the root of the winch, and obtain the winch torque.

[0156] Step 4: Determine the lifting speed of the tower according to the total wind load force; determine the lifting angle of the tower according to the winch torque; and control the winch to hoist the tower according to the lifting speed and lifting angle.

[0157] Step 5: determining the stress state and motion state of the tower according to the acceleration data; determining the tilt state of the tower according to the acceleration data; and adjusting the hoisting operation of the winch according to the stress state, motion state and tilt state of the tower.

[0158] Step 6: Use real-time dynamic carrier phase differential technology to determine the first measurement data of the tower; use pulse ultra-wideband technology to determine the second measurement data of the tower; fuse the first measurement data and the second measurement data through the Bayesian algorithm to obtain monitoring information of the tower; and determine the safety monitoring result of the tower based on the monitoring information.

[0159] The monitoring information includes at least one of the tower's position information, attitude information, and offset information.

[0160] The embodiment of the present application comprehensively considers the impact of wind load, tower structure and tower posture on the lifting operation, and controls the winch to ensure the stability and safety of tower lifting under complex conditions.

[0161] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0162] Based on the same inventive concept, the present application also provides an iron tower hoisting device for implementing the iron tower hoisting method described above. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more of the following iron tower hoisting device embodiments can be found in the above-mentioned limitations of the iron tower hoisting method and will not be repeated here.

[0163] In an exemplary embodiment, Figure 8 As shown, a tower hoisting device is provided, comprising:

[0164] The load moment determination module 701 is used to determine the total wind load force and the hoist moment according to the pre-acquired hoisting data;

[0165] The hoisting control module 702 is used to control the hoist to perform hoisting operations on the tower according to the total wind load force and the hoist torque;

[0166] The hoisting adjustment module 703 is used to obtain the posture data of the tower during the hoisting process and adjust the hoisting operation of the winch according to the posture data.

[0167] In one embodiment, the hoisting data includes wind data, hoist data and tower data; the load torque determination module 701 is specifically used to determine the total wind load force based on the wind data, tower data and a pre-established mechanical model; and to determine the hoist torque based on the wind data, hoist data and a pre-established torque relationship.

[0168] In one embodiment, wind data includes wind speed coefficient, wind direction, wind load adjustment coefficient and wind load action angle; tower data includes tower shape and windward projection area; load moment determination module 701 is specifically used to determine the wind pressure body coefficient according to wind direction and tower shape; wind speed coefficient, wind pressure body coefficient, wind load adjustment coefficient, wind load action angle and windward projection area are input into the mechanical model for calculation to obtain the total wind load force.

[0169] In one embodiment, the wind data includes multiple height segments affected by wind loads, the original wind loads of each height segment, and the wind load adjustment coefficients of each height segment; the winch data includes the body coefficient and projected area of ​​each height segment; the load moment determination module 701 is specifically used to substitute the multiple height segments affected by wind loads, the original wind loads of each height segment, the wind load adjustment coefficients of each height segment, the body coefficient and projected area of ​​each height segment into the moment relationship, calculate the moment of the wind load on the root of the winch, and obtain the winch torque.

[0170] In one embodiment, the hoisting control module 702 is specifically used to determine the lifting speed of the tower according to the total wind load force; determine the lifting angle of the tower according to the winch torque; and control the winch to perform hoisting operations on the tower according to the lifting speed and lifting angle.

[0171] In one embodiment, the posture data includes acceleration data, and the hoisting adjustment module 703 is used to determine the stress state and motion state of the tower based on the acceleration data; determine the tilt state of the tower based on the acceleration data; and adjust the hoisting operation of the winch based on the stress state, motion state and tilt state of the tower.

[0172] In one embodiment, the apparatus further comprises:

[0173] A first measurement module is used to determine first measurement data of the tower using a real-time dynamic carrier phase difference technology;

[0174] A second measurement module is used to determine second measurement data of the tower using pulse ultra-wideband technology;

[0175] a data fusion module, configured to fuse the first measurement data and the second measurement data using a Bayesian algorithm to obtain monitoring information of the tower; wherein the monitoring information includes at least one of position information, attitude information, and offset information of the tower;

[0176] The monitoring module is used to determine the safety monitoring results of the tower based on the monitoring information.

[0177] Each module in the tower hoisting device can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in hardware form, or can be stored in a memory in the computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0178] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal for controlling a hoist. The internal structure diagram of the computer device may be as shown in FIG. Figure 9As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface, the display unit and the input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a tower hoisting method is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device casing, or an external keyboard, touchpad or mouse.

[0179] Those skilled in the art will understand that Figure 9 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0180] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0181] Determine the total wind load force and winch torque based on the pre-acquired hoisting data;

[0182] Control the winch to hoist the tower according to the total wind load force and winch torque;

[0183] Obtain the tower's posture data during the hoisting process and adjust the hoisting operation of the winch based on the posture data.

[0184] In one embodiment, the hoisting data includes wind data, hoist data, and tower data; when the processor executes the computer program, the processor further implements the following steps:

[0185] Determine the total wind load force based on wind data, tower data and pre-established mechanical models;

[0186] The winch torque is determined based on wind data, winch data and pre-established torque relationships.

[0187] In one embodiment, the wind data includes a wind speed coefficient, a wind direction, a wind load adjustment coefficient, and a wind load action angle; the tower data includes a tower shape and a windward projected area; and when the processor executes the computer program, the processor further implements the following steps:

[0188] Determine the wind pressure body coefficient according to wind direction and tower shape;

[0189] The wind speed coefficient, wind pressure body coefficient, wind load adjustment coefficient, wind load action angle and windward projection area are input into the mechanical model for calculation to obtain the total wind load force.

[0190] In one embodiment, the wind data includes a plurality of height segments to which wind loads act, the original wind loads of each height segment, and the wind load adjustment coefficients of each height segment; the hoist data includes the shape coefficient and projected area of ​​each height segment; and when the processor executes the computer program, the processor further implements the following steps:

[0191] The height segments subject to multiple wind loads, the original wind load of each height segment, the wind load adjustment coefficient of each height segment, the shape coefficient and the projected area of ​​each height segment are substituted into the moment relationship, and the moment of the wind load on the root of the winch is calculated to obtain the winch torque.

[0192] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0193] Determine the tower lifting speed based on the total wind load force;

[0194] Determine the lifting angle of the tower according to the winch torque;

[0195] The winch is controlled according to the lifting speed and lifting angle to perform hoisting operations on the tower.

[0196] In one embodiment, the posture data includes acceleration data, and the processor, when executing the computer program, further implements the following steps:

[0197] Determine the stress state and motion state of the tower based on acceleration data;

[0198] Determine the tilt state of the tower based on acceleration data;

[0199] Adjust the hoisting operation of the winch according to the stress state, movement state and tilt state of the tower.

[0200] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0201] Determining first measurement data of the tower using real-time dynamic carrier phase difference technology;

[0202] Determine the second measurement data of the tower using pulse ultra-wideband technology;

[0203] fusing the first measurement data and the second measurement data using a Bayesian algorithm to obtain monitoring information of the tower; wherein the monitoring information includes at least one of position information, attitude information, and offset information of the tower;

[0204] Determine the safety monitoring results of the tower based on the monitoring information.

[0205] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0206] Determine the total wind load force and winch torque based on the pre-acquired hoisting data;

[0207] Control the winch to hoist the tower according to the total wind load force and winch torque;

[0208] Obtain the tower's posture data during the hoisting process and adjust the hoisting operation of the winch based on the posture data.

[0209] In one embodiment, the hoisting data includes wind data, hoist data, and tower data; when the computer program is executed by the processor, the following steps are further implemented:

[0210] Determine the total wind load force based on wind data, tower data and pre-established mechanical models;

[0211] The winch torque is determined based on wind data, winch data and pre-established torque relationships.

[0212] In one embodiment, the wind data includes a wind speed coefficient, a wind direction, a wind load adjustment coefficient, and a wind load action angle; the tower data includes a tower shape and a windward projected area; and the computer program, when executed by a processor, further implements the following steps:

[0213] Determine the wind pressure body coefficient according to wind direction and tower shape;

[0214] The wind speed coefficient, wind pressure body coefficient, wind load adjustment coefficient, wind load action angle and windward projection area are input into the mechanical model for calculation to obtain the total wind load force.

[0215] In one embodiment, the wind data includes a plurality of height segments to which wind loads act, the original wind loads of each height segment, and the wind load adjustment coefficients of each height segment; the hoist data includes the shape coefficient and projected area of ​​each height segment; and when the processor executes the computer program, the processor further implements the following steps:

[0216] The height segments subject to multiple wind loads, the original wind load of each height segment, the wind load adjustment coefficient of each height segment, the shape coefficient and the projected area of ​​each height segment are substituted into the moment relationship, and the moment of the wind load on the root of the winch is calculated to obtain the winch torque.

[0217] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0218] Determine the tower lifting speed based on the total wind load force;

[0219] Determine the lifting angle of the tower according to the winch torque;

[0220] The winch is controlled according to the lifting speed and lifting angle to perform hoisting operations on the tower.

[0221] In one embodiment, the posture data includes acceleration data, and the computer program, when executed by a processor, further implements the following steps:

[0222] Determine the stress state and motion state of the tower based on acceleration data;

[0223] Determine the tilt state of the tower based on acceleration data;

[0224] Adjust the hoisting operation of the winch according to the stress state, movement state and tilt state of the tower.

[0225] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0226] Determining first measurement data of the tower using real-time dynamic carrier phase difference technology;

[0227] Determine the second measurement data of the tower using pulse ultra-wideband technology;

[0228] fusing the first measurement data and the second measurement data using a Bayesian algorithm to obtain monitoring information of the tower; wherein the monitoring information includes at least one of position information, attitude information, and offset information of the tower;

[0229] Determine the safety monitoring results of the tower based on the monitoring information.

[0230] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0231] Determine the total wind load force and winch torque based on the pre-acquired hoisting data;

[0232] Control the winch to hoist the tower according to the total wind load force and winch torque;

[0233] Obtain the tower's posture data during the hoisting process and adjust the hoisting operation of the winch based on the posture data.

[0234] In one embodiment, the hoisting data includes wind data, hoist data, and tower data; when the computer program is executed by the processor, the following steps are further implemented:

[0235] Determine the total wind load force based on wind data, tower data and pre-established mechanical models;

[0236] The winch torque is determined based on wind data, winch data and pre-established torque relationships.

[0237] In one embodiment, the wind data includes a wind speed coefficient, a wind direction, a wind load adjustment coefficient, and a wind load action angle; the tower data includes a tower shape and a windward projected area; and the computer program, when executed by a processor, further implements the following steps:

[0238] Determine the wind pressure body coefficient according to wind direction and tower shape;

[0239] The wind speed coefficient, wind pressure body coefficient, wind load adjustment coefficient, wind load action angle and windward projection area are input into the mechanical model for calculation to obtain the total wind load force.

[0240] In one embodiment, the wind data includes a plurality of height segments to which wind loads act, the original wind loads of each height segment, and the wind load adjustment coefficients of each height segment; the hoist data includes the shape coefficient and projected area of ​​each height segment; and when the processor executes the computer program, the processor further implements the following steps:

[0241] The height segments subject to multiple wind loads, the original wind load of each height segment, the wind load adjustment coefficient of each height segment, the shape coefficient and the projected area of ​​each height segment are substituted into the moment relationship, and the moment of the wind load on the root of the winch is calculated to obtain the winch torque.

[0242] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0243] Determine the tower lifting speed based on the total wind load force;

[0244] Determine the lifting angle of the tower according to the winch torque;

[0245] The winch is controlled according to the lifting speed and lifting angle to perform hoisting operations on the tower.

[0246] In one embodiment, the posture data includes acceleration data, and the computer program, when executed by a processor, further implements the following steps:

[0247] Determine the stress state and motion state of the tower based on acceleration data;

[0248] Determine the tilt state of the tower based on acceleration data;

[0249] Adjust the hoisting operation of the winch according to the stress state, movement state and tilt state of the tower.

[0250] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0251] Determining first measurement data of the tower using real-time dynamic carrier phase difference technology;

[0252] Determine the second measurement data of the tower using pulse ultra-wideband technology;

[0253] fusing the first measurement data and the second measurement data using a Bayesian algorithm to obtain monitoring information of the tower; wherein the monitoring information includes at least one of position information, attitude information, and offset information of the tower;

[0254] Determine the safety monitoring results of the tower based on the monitoring information.

[0255] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be, but are not limited to, a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, and the like.

[0256] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0257] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A tower hoisting method, characterized in that: The method comprises: Determine the total wind load force and winch torque based on the pre-acquired hoisting data; controlling the hoist to perform hoisting operations on the iron tower according to the total wind load force and the hoist torque; Acquire the posture data of the tower during the hoisting process, and adjust the hoisting operation of the winch according to the posture data.

2. The method according to claim 1, characterized in that The hoisting data includes wind data, hoist data and tower data; the total wind load force and hoist torque are determined based on the pre-acquired hoisting data, including: Determining the total wind load force based on the wind data, the tower data, and a pre-established mechanical model; The hoist torque is determined based on the wind data, the hoist data and a pre-established torque relationship.

3. The method according to claim 2, characterized in that The wind data includes a wind speed coefficient, a wind direction, a wind load adjustment coefficient, and a wind load action angle; the tower data includes a tower shape and a windward projected area; and determining the total wind load action force based on the wind data, the tower data, and a pre-established mechanical model includes: Determining a wind pressure body coefficient according to the wind direction and the shape of the tower; The wind speed coefficient, the wind pressure body coefficient, the wind load adjustment coefficient, the wind load action angle and the windward projected area are input into the mechanical model for calculation to obtain the total wind load force.

4. The method according to claim 2, characterized in that The wind data includes a plurality of height segments to which wind loads act, the original wind loads of each height segment, and the wind load adjustment coefficients of each height segment; the hoist data includes the shape coefficient and projected area of ​​each height segment; and determining the hoist torque based on the wind data, the hoist data, and a pre-established torque relationship includes: Substitute the multiple height segments where the wind load acts, the original wind load of each height segment, the wind load adjustment coefficient of each height segment, the shape coefficient and the projected area of ​​each height segment into the torque relationship, and calculate the torque of the wind load on the root of the winch to obtain the winch torque.

5. The method according to claim 1, wherein The controlling the hoist to perform the hoisting operation on the iron tower according to the total wind load force and the hoist torque includes: Determining the lifting speed of the iron tower according to the total wind load force; Determining the lifting angle of the iron tower according to the hoist torque; The hoist is controlled to perform hoisting operations on the iron tower according to the lifting speed and the lifting angle.

6. The method according to claim 1, characterized in that The posture data includes acceleration data, and adjusting the hoisting operation of the hoist according to the posture data includes: Determining the stress state and motion state of the iron tower according to the acceleration data; determining the tilt state of the tower according to the acceleration data; The hoisting operation of the hoist is adjusted according to the stress state, the movement state and the tilt state of the iron tower.

7. The method according to claim 1, characterized in that The method further comprises: Determining first measurement data of the iron tower by using real-time dynamic carrier phase difference technology; Determining second measurement data of the iron tower using pulse ultra-wideband technology; fusing the first measurement data and the second measurement data using a Bayesian algorithm to obtain monitoring information of the tower; wherein the monitoring information includes at least one of position information, attitude information, and offset information of the tower; A safety monitoring result of the iron tower is determined based on the monitoring information.

8. A tower hoisting device, characterized in that: The device comprises: A load moment determination module, used to determine the total wind load force and winch moment based on pre-acquired hoisting data; a hoisting control module, configured to control the hoist to perform hoisting operations on the iron tower according to the total wind load force and the hoist torque; The hoisting adjustment module is used to obtain the posture data of the tower during the hoisting process and adjust the hoisting operation of the winch according to the posture data.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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