A self-balancing intelligent hoisting system for precast components

Abstract

The present application relates to the technical field of hoisting and lifting, and discloses a self-balancing intelligent hoisting system for prefabricated components, which comprises the following steps: before starting the main hoisting operation, the system measures the attitude parameters of the prefabricated component in a stable state by performing low-ground single-point suspension on the prefabricated component at two different preset hoisting points, calculates the center-of-gravity coordinates of the component based on the known geometric relationship between the parameters and the hoisting points, and further generates an executable hoisting scheme; the system applies a pre-tensioning force before the main lifting and performs zero-position calibration, and only when the calibration confirms that the lifting appliance is in a horizontal state, the lifting is allowed to be performed, the present application converts the dynamic process in the traditional hoisting which relies on experience estimation and repeated trial and error in the air into a static measurement and cognition process which is completed on the ground and based on physical laws, and through the closed-loop operation procedure of the pre-center-of-gravity cognition and the post-execution verification, the imbalance risk caused by the unknown center of gravity or the error of the cable appliance assembly is eliminated.

Description

Technical Field

[0001] This invention relates to a self-balancing intelligent hoisting system for prefabricated components, belonging to the field of hoisting technology. Background Technology

[0002] Currently, using a combination of rigid lifting beams and slings to lift large precast components is a basic and widely used operation method. Its core objective is to ensure the stability of the components during lifting and transportation, which is directly related to the safety of the operation and the efficiency of subsequent installation. According to the standard operating procedure, the arrangement of lifting points is usually determined based on the geometric center of the component marked on the design drawings. Under ideal conditions where the component mass is evenly distributed, this method can achieve effective balance.

[0003] However, with the continuous development of modern architectural design and prefabrication technology, the integration and complexity of prefabricated components are increasing. They often integrate non-homogeneous materials such as window frames, insulation layers, decorative surfaces, and embedded pipelines or equipment. This leads to an increasingly significant and unpredictable deviation between the actual physical center of gravity of the component and its geometric center. In this case, if the traditional method of arranging lifting points based on the geometric center is still used, an unavoidable tilt will occur the moment the component is lifted off the ground. At this point, the entire hoisting operation is transformed from a controllable engineering plan into a high-risk process that relies on the experience of on-site personnel for emergency adjustments. This not only significantly reduces work efficiency but also poses a direct safety threat to on-site personnel and equipment.

[0004] To address this challenge, the industry has explored adding more complex automated control units, such as integrating hydraulic adjustment mechanisms into the lifting equipment, attempting to dynamically compensate for unbalanced torques in the air. However, this approach increases the complexity of the lifting system, manufacturing costs, and maintenance difficulties, introducing new potential failure points. This contradicts the basic requirements of high reliability and economy in the construction machinery field, especially in harsh environments and variable working conditions at construction sites, where its applicability is greatly limited. Therefore, the contradiction of the existing technological approach lies in that it always treats balance as a result that needs to be passively corrected or dynamically controlled in the air and under high-risk conditions, while ignoring the complex components that lead to imbalances and lacking an effective safety measure to predict these factors before the main lifting operation. 2. The air-based adjustment method transforms a measurement problem that could be solved on the ground into a high-risk dynamic control problem, posing inherent safety hazards. 3. Attempting to solve the problem by adding complex active control systems conflicts with the engineering principle of pursuing simple structure and high reliability in lifting equipment. Therefore, the technical problem to be solved by this invention is how to provide a method that can safely, efficiently and accurately obtain the true center of gravity parameters of prefabricated components before the main hoisting operation without significantly increasing the complexity of the lifting system. Summary of the Invention

[0005] This invention provides a self-balancing intelligent hoisting system for prefabricated components. Its main purpose is to solve the problem that existing technologies cannot safely and accurately obtain the true center of gravity of the components before hoisting operations, which leads to the safety risks and low efficiency of relying on passive adjustments in the air during the hoisting process.

[0006] To achieve the above objectives, the present invention provides a self-balancing intelligent hoisting system for prefabricated components, comprising:

[0007] Attitude sensor and processing unit;

[0008] The attitude sensor is mounted on the suspension element;

[0009] The processing unit is configured to: when connecting the sling element and the lifting equipment at the first preset lifting point and linking the prefabricated component, acquire a first attitude parameter measured by an attitude sensor, the first attitude parameter being measured after the prefabricated component is lifted to a first ground clearance height sufficient to lift it off the ground and its attitude change rate is lower than a stability threshold; when connecting the sling element and the lifting equipment at the second preset lifting point and linking the prefabricated component, acquire a second attitude parameter from the attitude sensor, the acquisition conditions for the second attitude parameter being the same as those for the first attitude parameter; calculate the center of gravity coordinates of the prefabricated component based on the first attitude parameter and the second attitude parameter, and the known distance between the first preset lifting point and the second preset lifting point; and generate an executable lifting plan based on the center of gravity coordinates.

[0010] The processing unit is also configured to: execute a main lifting release arbitration, which allows the main lifting to be performed after the rigging assembly is completed according to the executable lifting plan and before the precast component is lifted off the ground, when the pretension force applied by the lifting equipment is within 5% to 10% of the rated weight of the precast component, if the tilt angle measured by the attitude sensor is within the zero tolerance, and prohibits the main lifting to be performed if the tilt angle is not within the zero tolerance.

[0011] Preferably, the processing unit is further configured to: when connecting the suspension element and the lifting equipment at the third preset lifting point and linking the prefabricated component, acquire the third attitude parameter of the attitude sensor, the acquisition conditions of the third attitude parameter being the same as the acquisition conditions of the first attitude parameter; calculate multiple candidate centroid coordinates in parallel based on different combinations of the first attitude parameter, the second attitude parameter and the third attitude parameter; and determine the rigidity model conformity of the prefabricated component based on whether the consistency between the multiple candidate centroid coordinates meets the convergence threshold, and generate an executable lifting scheme only when the rigidity model conformity meets the convergence threshold.

[0012] Preferably, the system further includes a data interface for connecting to the lifting equipment, through which the processing unit acquires the work parameters of the lifting equipment during the lifting process; and the processing unit is also configured to: simultaneously calculate the potential energy change parameters of the precast component during the process of the precast component being lifted to a first ground height; and determine whether the measurement process of the first attitude parameters and the second attitude parameters is constrained by the external environment based on whether the numerical difference between the work parameters and the potential energy change parameters is within the energy conservation threshold. If the numerical difference is not within the energy conservation threshold, the acquired attitude parameters are determined to be invalid data.

[0013] Preferably, the processing unit is configured to acquire a first attitude parameter and a second attitude parameter, specifically: after the attitude change rate of the prefabricated component is lower than the stability threshold, the attitude sensor is continuously sampled within a preset time window to acquire a segment of angle time series data; and low-pass filtering is applied to the angle time series data to separate an attitude parameter representing static tilt for the calculation of the center of gravity coordinates.

[0014] Preferably, the processing unit is further configured to: synchronously calculate the variance of the angle time series data. Furthermore, the calculation of the centroid coordinates is based on... As a prerequisite for execution; among which, The variance of the angle time series data, This is a variance threshold that characterizes an acceptable measurement environment.

[0015] Preferably, the processing unit is further configured to: after initial balancing hoisting according to the executable hoisting scheme, perform spectrum analysis on the dynamic data collected by the attitude sensor to establish a reference dynamic response frequency of the prefabricated component in the initial balancing state; during subsequent hoisting, monitor the real-time dynamic response frequency of the prefabricated component online; and based on the degree of deviation between the real-time dynamic response frequency and the reference dynamic response frequency, determine whether the center of gravity of the prefabricated component has drifted, and if the degree of deviation exceeds the drift threshold, output an alarm signal.

[0016] Preferably, the feasible hoisting scheme is the optimal hoisting point position coordinates on the hoisting element for single-point balanced hoisting.

[0017] Preferably, the executable lifting scheme is a set of sling configuration parameters with defined length differences for two-point balanced lifting.

[0018] Preferably, the attitude sensor is a dual-axis tilt sensor located at the geometric center of the suspension element.

[0019] Preferably, zero tolerance is defined as the absolute value of the tilt angle not being greater than a preset tolerance angle.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] 1. This invention provides a method for calibrating the center of gravity properties of precast components before the main hoisting operation. Instead of passively adjusting the components after they become unbalanced, it actively performs two single-point suspensions under low-risk conditions on the ground, causing the components to naturally tilt under gravity. Attitude sensors record the stable attitude parameters at these two different suspension points. The calculation unit calculates the center of gravity coordinates of the components in reverse based on the known geometric relationship between these two sets of parameters and the suspension points. This provides a deterministic suspension point position or sling configuration scheme for a one-time balanced hoisting operation. In this way, the high-risk dynamic process of relying on experience-based estimation and repeated trial and error adjustments in the air in the traditional hoisting process is transformed into a static measurement and cognition process based on physical laws completed on the ground.

[0022] 2. Based on the first and second attitude parameters, a third attitude parameter can be obtained by adding an additional suspension detection. After receiving multiple sets of attitude data, the calculation unit does not perform single-path calculation, but calculates multiple candidate center of gravity results in parallel based on different combinations of these parameters, and compares the consistency between these results. Since the center of gravity of a rigid component is unique under different forces, the overlap of candidate results directly reflects whether the component conforms to the assumptions of the rigid model. At the same time, in each suspension lifting, the system also synchronously acquires the work parameters of the lifting equipment and the potential energy change parameters of the component. By comparing whether the two match, it is determined whether the measurement process of the attitude parameters is subject to unknown constraints of the external environment. This mechanism of cross-validating geometric attitude information with the law of energy conservation enables the system to complete the dual confirmation of the purity of the physical model of the component and the external measurement environment before outputting the final lifting scheme.

[0023] 3. After determining and implementing the balanced hoisting scheme, the system's dynamic response characteristics caused by minor excitations in the initial balanced state are calibrated using attitude sensors to establish a baseline dynamic fingerprint. Throughout the subsequent hoisting process, the system continuously monitors the real-time dynamic response characteristics caused by environmental disturbances online. By comparing the continuous deviation between the real-time characteristics and the baseline fingerprint, it is determined whether the component's center of gravity has dynamically drifted during the hoisting process. In addition, before the main hoisting operation fully begins, the method also includes a pre-tensioning step. All rigging is straightened before the component leaves the ground, and the attitude sensors confirm whether the hoisting element remains horizontal under this preset balanced force state. This provides the final physical verification of whether the operator has accurately executed the hoisting scheme given by the system, forming a complete operational closed loop from pre-cognition to in-process monitoring to execution confirmation. Attached Figure Description

[0024] Figure 1This is a flowchart illustrating the closed-loop operation of center of gravity calibration and safety arbitration in this invention.

[0025] Figure 2 This is a curve comparing the operational stability of the system of this invention with that of traditional methods;

[0026] Figure 3 This is a schematic diagram of the core hardware structure and connection relationships of the system of the present invention. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] This invention provides a self-balancing intelligent hoisting system for precast components. In construction site scenarios involving the hoisting of large precast components containing heterogeneous materials, this system addresses the initial tilting risk caused by the inconsistency between the component's actual center of gravity and its geometric center. Instead of dynamically compensating after imbalance occurs, it pre-determines the component's center of gravity parameters through a calibration and verification process performed before the main hoisting operation, generating a deterministic balanced hoisting plan accordingly. The system's hardware includes attitude sensors mounted on rigid lifting beams and other hoisting elements, as well as a processing unit for data processing and logic control. The operational method sequentially includes three stages: center of gravity parameter calibration, hoisting plan generation, and main lifting release arbitration. This approach addresses the uncertainties and risks inherent in hoisting operations upfront, under low-risk conditions on the ground.

[0029] In a specific implementation process, the first step is the center of gravity parameter calibration stage. This stage addresses the technical problem of unknown center of gravity coordinates due to uneven component mass distribution. To achieve calibration, the system is configured to execute a measurement procedure based on two single-point suspension probes. This procedure utilizes the physical principle that when a component is suspended at a single point, its attitude stabilizes when the suspension point and the system's total center of gravity are on the same vertical line. The operation steps are as follows: First, connect the main hook of the lifting equipment to the first preset suspension point of the suspended element, for example, suspension point A, which is 1.5 meters to the left of the geometric center of the suspended element, and connect the suspended element to the prefabricated component on the ground; Second, ... The lifting equipment slowly raises the precast component to a first ground clearance height sufficient to lift it off the ground, for example, 5 to 10 centimeters. At this point, the system swings around lifting point A and tends to stabilize. During this period, the processing unit continuously collects the angle data of the suspended component through attitude sensors such as a dual-axis tilt sensor with a sampling frequency of 50 Hz, and determines whether the system has reached a stable state. The stability threshold here is defined as follows: within a continuous 2-second time window, the absolute value of the first-order rate of change obtained after the angle data is filtered by moving average is continuously less than 0.05 degrees / second. When this condition is met, the processing unit records the attitude parameters at this moment, i.e., the first attitude parameters. The third step is to lower the component back to the ground and switch the main hook to the second preset lifting point, such as lifting point B, which is 1.5 meters to the right of the geometric center of the suspended component. Repeat the operation of the second step, and measure the second attitude parameters after the system stabilizes. Through this procedure, the system obtains two independent sets of physical attitude parameters required for center of gravity calculation.

[0030] After acquiring two sets of attitude parameters, the system enters the lifting scheme generation stage. This stage aims to convert the measured attitude information into lifting commands that can be executed by on-site personnel. Therefore, the processing unit uses the known distance between lifting point A and lifting point B as a basis for... In this example, the distance is 3 meters, and the first attitude parameters are measured. Second attitude parameters The coordinates of the center of gravity of the precast component are calculated using an embedded static mechanical trigonometric function model; for example, if the measured values ​​are... , The processing unit calculates the horizontal position of the component's center of gravity in the coordinate system of the sling element, which is approximately 1.25 meters to the right of sling point A, or 0.25 meters to the left of the geometric center of the sling element. Based on this calculated center of gravity coordinate, the processing unit generates an executable lifting plan and outputs it through the human-machine interface. This plan can be an optimal sling point position coordinate for single-point balanced lifting, suggesting that the main hook be moved to 0.25 meters to the left of the geometric center of the sling element, or, in cases where dual-sling lifting is required, a set of sling configuration parameters with a defined length difference is calculated, thus providing a data-driven deterministic operational basis for subsequent balanced lifting operations.

[0031] After the operators complete the physical assembly of the rigging according to the lifting plan generated by the system, to prevent the introduction of new imbalance risks due to on-site operational errors, the system is also configured to perform a main lifting release arbitration before the main lifting operation begins. This arbitration is a verification procedure based on pre-tensioned attitude zero-position verification. The specific steps are as follows: when the component is not off the ground, the lifting equipment applies a pre-tension force to the rigging. The range of this force is set between 5% and 10% of the rated weight of the precast component. For example, for a 10-ton component, a pre-tension force of 0.5 to 1.0 tons is applied. This force is sufficient to straighten the rigging but not enough to lift the component off the ground. Under this tension force, the processing unit again measures the attitude of the suspended element through the attitude sensor. The real-time tilt angle is compared with the preset zero-position tolerance. In a properly configured balanced hoisting system, the pre-tension force should not generate torque on the suspended components, so their attitude should remain horizontal. The zero-position tolerance here is calibrated as the absolute value of the tilt angle not exceeding 0.2 degrees to accommodate factors such as sensor noise and minor structural deformation. If the measured tilt angle is within this zero-position tolerance, the processing unit determines that the rigging assembly is consistent with the system plan and outputs a command to allow the main hoisting. If the tilt angle exceeds the zero-position tolerance, the main hoisting is prohibited and an alarm signal is output to prompt the operator to recheck the rigging assembly. This procedure forms a closed-loop operation from pre-cognition to execution verification through the final confirmation of the physical execution results.

[0032] Example 1: At a high-rise building construction site, a precast concrete exterior wall panel weighing 8 tons, with a large area of ​​asymmetrical window frames and external decorative lines embedded within, needed to be hoisted. Due to the uneven mass distribution within the panel, its center of gravity deviated from the geometric center by more than 45 centimeters. If the lifting points were arranged according to the geometric center in the design drawings, an unbalanced moment would cause a tilt angle exceeding 12 degrees upon lifting off the ground. This situation posed a risk to the panel's structure and reduced the safety of on-site operations. Traditional methods required multiple trial lifts and manual adjustments in the air to find balance, a time-consuming and inefficient process. To address this situation, the on-site team adopted a self-balancing intelligent hoisting system for precast components. The operator initiated the system's center of gravity parameter calibration process, connected the crane hook to the first preset lifting point A of the hanging element, and linked the wall panel on the ground. The crane lifted the panel to a height of approximately 10 centimeters off the ground. After the panel stabilized, the processing unit recorded the first attitude parameters based on data from the attitude sensor. Then, the wall panel was placed back on the ground, and the hook was switched to the second preset lifting point B, 3 meters away. The operation was repeated, and the second attitude parameters were recorded. After receiving these two sets of attitude parameters, the processing unit combines them with the known distance between the lifting points. The system calculates the coordinates of the wall panel's center of gravity and displays the optimal lifting point position for single-point balancing hoisting—a coordinate 45 centimeters off the geometric center of the hanging element—on the operating terminal. This center of gravity recognition process replaces the uncertain dynamic trial-and-error process in the air during traditional hoisting with a deterministic static measurement process on the ground.

[0033] After obtaining the lifting plan, the operator moves the crane's main hook to the lifting point position designated by the system and completes the rigging assembly. Before executing the main lift, the system enters the main lift release arbitration phase. The operator applies a pre-tension force of approximately 8% of the wall panel's weight, or about 0.64 tons. At this time, the processing unit reads the tilt angle from the attitude sensor as 0.15 degrees, which is within the preset zero-position tolerance of 0.2 degrees. Based on this, the system determines that the physical assembly state of the rigging matches the requirements of the lifting plan and outputs a command to allow the main lift. Here, the initial calibration of the center of gravity parameters provides a data benchmark for subsequent execution verification, while the subsequent pre-tension zero-position verification confirms this data benchmark. The coordination between the two stages—ensuring accurate physical execution and verifying the risk assessment—establishes a closed-loop operation that combines risk awareness with execution verification. This allows the lifting operation to improve its safety and controllability without sacrificing efficiency. After receiving the system's release instruction, the crane operator performs the main lifting, and the heavy precast wall panel is smoothly lifted from the ground in one go. Throughout the lifting and transfer process, its posture remains horizontal, with no observable tilting or swaying. The entire lifting operation process does not require any interruptions for adjustment. Compared with traditional operation methods, the lifting and placement time of a single component is reduced from more than 30 minutes to less than 8 minutes, improving the predictability and safety of on-site operations.

[0034] Example 2: To quantitatively evaluate the technical effectiveness of the self-balancing intelligent hoisting system, a comparative verification experiment was conducted. This experiment aimed to compare the performance indicators of the system of this invention (sample group) and the traditional operation method based on geometric center hoisting (control group) in terms of center of gravity positioning accuracy, hoisting posture stability, and operation efficiency. The test platform was built in a standard test field, using a bridge crane with a maximum lifting capacity of 25 tons. The hoisting object was a homogeneous reinforced concrete test component with dimensions of 4.0 m x 2.0 m x 0.5 m and a weight of 4 tons. The component had standard bolt holes, and a 500 kg steel counterweight could be added to artificially create a controllable offset between the geometric center and the actual center of gravity of the component. The test data acquisition equipment, in addition to the dual-axis tilt sensor with a static measurement accuracy of 0.05 degrees, which is part of the system of this invention, also included a high-frequency sampling device with a sampling frequency of 100 Hz. A high-speed industrial camera was used for dynamic attitude verification during the hoisting process, and the operation time was recorded by an electronic timer with an accuracy of 0.01 seconds. Two working conditions were set in the experiment: Condition 1: the counterweight was installed in a specific position so that the actual center of gravity of the test component was offset by 30 cm from its geometric center; Condition 2: the counterweight was moved so that the offset of the center of gravity was increased to 50 cm. Under each working condition, the operation procedure of the control group was to arrange the hoisting point according to the geometric center of the component and directly lift it, record the maximum tilt angle of the first lift off the ground. If tilting occurred, the component was put back, the hoisting point was adjusted according to experience, and the lifting was repeated until the attitude of the component was stable. The number of adjustments and the total time were recorded. The operation procedure of the sample group of this invention was to first execute the complete center of gravity parameter calibration and main lifting release arbitration process. After the system output the optimal hoisting point position and the pre-tensioning verification was correct, a one-time main lifting was performed. The deviation between the center of gravity position calculated by the system and the actual center of gravity, the maximum tilt angle of the first lift off the ground, and the total time were recorded.

[0035] The test results showed differences between the experimental group and the control group in terms of center of gravity positioning accuracy and hoisting stability. Under a center of gravity offset of 30 cm, the control group had a positioning deviation of 30.0 cm, resulting in an initial ground tilt angle of 7.1 degrees. In contrast, the experimental group of this invention, through the center of gravity parameter calibration process, measured a positioning deviation of 1.3 cm, with a corresponding initial ground tilt angle of 0.3 degrees. When the center of gravity offset increased to 50 cm, the control group's positioning deviation became 50.0 cm, and the initial ground tilt angle increased to 11.8 degrees. The experimental group of this invention, however, had a positioning deviation of only 1.6 cm and an initial ground tilt angle of 0.4 degrees. This difference in positioning accuracy directly affected the operation... In terms of operational efficiency, under a 30 cm offset condition, the control group required two balancing adjustments, taking a total of 215 seconds, while the prototype of this invention required no adjustments, taking a total of 72 seconds. When the offset increased to 50 cm, the number of adjustments for the control group increased to three, taking a total of 358 seconds, while the prototype of this invention maintained a relatively stable time of 75 seconds. This time was mainly due to the initial ground calibration operation. The test data shows that by performing ground calibration before the main hoisting, the system can achieve a center of gravity positioning with a deviation of less than 2.0 cm. Compared with the traditional method based on the geometric center, its initial ground tilt angle is controlled within 0.5 degrees, and no aerial balancing adjustment is required, thereby shortening the operation and positioning time.

[0036] Example 3: This example combines Figures 1 to 3 A description of a self-balancing intelligent hoisting system for prefabricated components, such as... Figure 1 As shown, this invention demonstrates a complete logical closed loop for the safe and stable hoisting of a prefabricated component when its center of gravity is unknown or deviates from its geometric center. The process begins with two independent single-point suspension detections: low-lift hoisting at the first preset hoisting point A and the second preset hoisting point B, respectively. After the component stabilizes, attitude parameters are acquired via attitude sensors. With the second attitude parameters Based on these two sets of attitude parameters and the known geometric relationship between the lifting points, the coordinates of the center of gravity of the component are calculated through a static mechanical model, and an executable lifting scheme is generated accordingly. For example, the optimal lifting point position or the configuration parameters of the sling for a specific length are output. In addition to this core process, two verification logics can be optionally added to enhance the reliability of the system. The first is the rigid model conformity verification, which is to determine whether the consistency of multiple sets of candidate center of gravity coordinates meets the convergence threshold by adding a third point of suspension detection. The second is the verification logic based on energy conservation, which is to determine whether the measurement process is constrained by the external environment by comparing the work done by the lifting equipment with the change of the component's potential energy. After the operator completes the rigging assembly according to the scheme, and the operator adjusts the lifting points or replaces the slings according to the system instructions, the system enters the main lifting release arbitration stage. By applying pre-tension force and performing zero-position verification, it is determined whether the lifting device tilt angle is within the zero-position tolerance. If it is within the tolerance, the main lifting system is allowed to confirm and release the operation, thereby achieving a safe and stable one-time successful lifting. If it is not within the tolerance, the main lifting is prohibited and an alarm is output, prompting a re-check of the rigging assembly.

[0037] like Figure 2 As shown in the figure, the horizontal axis represents time in seconds, and the vertical axis represents the tilt angle during the hoisting process in degrees. The solid line in the figure represents the operation process using the system of this invention. The tilt angle fluctuates slightly in the initial stage and then quickly converges and stabilizes near zero degrees, indicating that the component maintains a stable posture throughout the lifting and transportation process. The dashed line in the figure represents the operation process using the traditional method, which produces a tilt of more than -3 degrees during the initial lifting. Subsequently, the operators put the component back on the ground for adjustment, and in subsequent attempts, large positive or negative tilts occurred one after another, presenting a dynamic process of repeated trial and error and continuous adjustment. This figure confirms that the present invention, through pre-emptive center of gravity calibration and execution verification, can effectively avoid the risks of aerial attitude adjustment and improve the stability and success rate of hoisting operations compared to traditional methods.

[0038] like Figure 3 As shown, the top layer of the entire system is the lifting hook 1, which is connected to the suspension element 3 through the data interface 2. The suspension element 3 is a rigid lifting beam with at least two preset lifting points A and B and a geometric center. The suspension element 3 is linked to the prefabricated component 6 below through slings or rigging 4. The actual center of gravity position of the prefabricated component 6 is shown in the figure. The core sensing and control unit of the system consists of two parts: one is an attitude sensor 5, such as a dual-axis tilt sensor, installed on the suspension element to measure the attitude parameters of the suspension element in real time; the other is a processing unit 7. According to the figure, the processing unit is connected to the attitude sensor to receive sensor data, perform center of gravity coordinate calculation, generate a lifting plan, and finally make a decision on the main lifting release arbitration.

[0039] Example 4: When the self-balancing intelligent hoisting system is first integrated and deployed with a specific model of suspension element, some of the system's built-in operating parameters need to be calibrated to adapt to its hardware characteristics. These include the zero-position tolerance used for the main lifting release arbitration and the wind-induced interference index used in the center of gravity parameter calibration process. The zero-position tolerance calibration is performed by lifting the integrated suspension element off the ground using a lifting device without connecting it to any load. In this unloaded suspension state, the system enters parameter calibration mode. The processing unit continuously collects the raw data of the dual-axis tilt angle from the attitude sensor at a frequency of 50 Hz within a 60-second time window. During this period, several slight disturbances are applied to the suspension element. The processing unit performs statistical analysis on the two sets of angle data points and calculates their standard deviation. If the calculated maximum standard deviation is 0.04 degrees and the sensor's inherent error is 0.05 degrees, then the zero-position tolerance value determined in this calibration is... Based on this, the system sets the operating parameters to 0.2 degrees.

[0040] The calibration of the wind-induced disturbance index relies on the decoupling processing of angle time-series data during the center of gravity parameter calibration step. After the single-point suspension detection stabilizes, the system acquires angle time-series data within a 2-second time window. The processing unit performs two calculations on this data in parallel. First, it performs calculations on... A digital low-pass filter with a cutoff frequency of 0.5 Hz is applied, and its stable output value is used as the static tilt angle parameter for calculating the center of gravity. Secondly, calculate the original data for this segment. variance This variance value was used as an indicator to quantify wind-induced disturbance; to determine the variance threshold used to judge whether the environment is acceptable. Multiple suspended probes were conducted under varying wind conditions on-site, recording the corresponding wind speeds at different levels. Numerical value, through data comparison, sets a variance value that can effectively distinguish between reliable and unreliable measurement data. In subsequent operations, if the measured If this threshold is exceeded, the system will pause detection and alert the operator; through the above calibration procedure, the zero tolerance and variance threshold within the system are determined. With these operating parameters set, the system's center of gravity measurement and safety verification functions can operate based on quantitative criteria adapted to specific hardware and field environment.

[0041] Example 5: To address the issue that the accuracy of center of gravity measurement may be affected by the elastic deformation of slender precast beams and other components during hoisting, the system is equipped with a rigid model conformity verification procedure based on multi-point detection. Under this procedure, in addition to single-point suspension detection at the first and second preset hoisting points, an additional suspension detection is required at the third preset hoisting point to obtain a third attitude parameter. After receiving the three sets of attitude data, the processing unit calculates three candidate center of gravity coordinates in parallel based on different combinations of these three sets of attitude parameters. If the component conforms to the rigid model, the three candidate center of gravity coordinates will tend to be consistent in spatial position. The system then determines that the component does not conform to the rigid model assumption. The judgment is based on whether the maximum spatial distance between the calculated three candidate center of gravity coordinates exceeds a preset convergence threshold. If it does, the system will stop generating an executable hoisting plan and alert the operator that the component has a non-rigid risk.

[0042] In addition, to verify the effectiveness of the single-point suspension detection process and eliminate interference from external environmental constraints such as ground hooks on the measurement data, the system also integrates a verification logic based on energy conservation. During each lifting of the precast component to the first ground clearance height, the processing unit synchronously acquires the work parameters output by the lifting equipment via the data interface. Based on the component's weight and the change in center of gravity height measured by the attitude sensor, the potential energy change parameters of the component are calculated simultaneously. The system compares and The system determines whether the numerical difference is within the energy conservation threshold to determine whether the measurement process is constrained by the external environment. If the numerical difference exceeds the threshold, the system will determine the acquired attitude parameters as invalid data and require the operator to check the external state of the component before re-performing the measurement.

[0043] Example 6: In long-term high-altitude alignment and installation of prefabricated components, such as functional cabins containing liquid, where there is a potential risk of dynamic changes in internal mass distribution, the system is configured to execute a preliminary dynamic characteristic calibration procedure to establish a benchmark dynamic model characterizing its initial equilibrium state for online comparison. Under this procedure, the operator first completes the calibration of the ground center of gravity parameters according to the aforementioned specific implementation method, and then lifts the functional cabin to a safe height according to the generated hoisting plan, placing it at a position relative to its initial center of gravity. The determined balanced lifting state is then established. Subsequently, the system enters the baseline model calibration phase. The operator performs a standardized micro-excitation action, causing the crane's slewing boom to make a small-angle inching motion at a preset low angular velocity. The processing unit then uses an attitude sensor to acquire the weak oscillation time-domain signal of the system induced by this excitation at a frequency of 100 Hz. A fast Fourier transform is performed on this signal to identify the dominant natural frequency of the system under this specific load and balance state, and this frequency is recorded as the baseline dynamic response frequency. ,Should This value forms the comparison benchmark for subsequent online monitoring.

[0044] Throughout the subsequent high-altitude alignment and installation process, the system switched to online monitoring mode, continuously collecting real-time vibration signals caused by environmental disturbances, and performing fast Fourier transforms on these signals over a sliding time window to continuously calculate the current real-time dynamic response frequency. The processing unit will Compared with the calibrated reference dynamic response frequency Continuous comparison will be conducted, if and If the deviation continues to exceed the preset drift threshold, the system will determine that the center of gravity of the component has drifted away from the initial state and output a warning signal to the operator.

[0045] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A self-balancing intelligent hoisting system for prefabricated components, characterized in that, include: Attitude sensor and processing unit; The attitude sensor is mounted on the suspension element; The processing unit is configured to: when the suspension element and the lifting equipment are connected at the first preset lifting point and the prefabricated component is linked, acquire a first attitude parameter measured by an attitude sensor. The first attitude parameter is measured after the prefabricated component is lifted to a first ground clearance height and its attitude change rate is lower than a stable threshold. When the hanging element and the lifting equipment are connected at the second preset lifting point and the prefabricated component is linked, the second attitude parameters of the attitude sensor are acquired. The acquisition conditions of the second attitude parameters are the same as those of the first attitude parameters. Based on the first attitude parameters and the second attitude parameters, as well as the known distance between the first preset lifting point and the second preset lifting point, the center of gravity coordinates of the prefabricated component are calculated. Based on the center of gravity coordinates, an executable lifting plan is generated. The processing unit is also configured to: execute a main lifting release arbitration, which allows the main lifting to be performed after the rigging assembly is completed according to the executable lifting plan and before the precast component is lifted off the ground, when the pretension force applied by the lifting equipment is within 5% to 10% of the rated weight of the precast component, if the tilt angle measured by the attitude sensor is within the zero tolerance, and prohibits the main lifting to be performed if the tilt angle is not within the zero tolerance.

2. The self-balancing intelligent hoisting system for prefabricated components according to claim 1, characterized in that, The processing unit is also configured to: when connecting the suspension element and the lifting equipment at the third preset lifting point and linking the prefabricated component, acquire the third attitude parameter of the attitude sensor, the acquisition conditions of the third attitude parameter are the same as the acquisition conditions of the first attitude parameter; calculate multiple candidate centroid coordinates in parallel based on different combinations of the first attitude parameter, the second attitude parameter and the third attitude parameter; and determine the rigidity model conformity of the prefabricated component based on whether the consistency between the multiple candidate centroid coordinates meets the convergence threshold, and generate an executable lifting scheme only when the rigidity model conformity meets the convergence threshold.

3. The self-balancing intelligent hoisting system for prefabricated components according to claim 1, characterized in that, The system also includes a data interface for connecting to the lifting equipment. The processing unit obtains the work parameters of the lifting equipment during the lifting process through the data interface. Furthermore, the processing unit is configured to: simultaneously calculate the potential energy change parameters of the precast component during the process of lifting the precast component to the first ground height; and determine whether the measurement process of the first attitude parameters and the second attitude parameters is constrained by the external environment based on whether the numerical difference between the work parameters and the potential energy change parameters is within the energy conservation threshold. If the numerical difference is not within the energy conservation threshold, the obtained attitude parameters are determined to be invalid data.

4. The self-balancing intelligent hoisting system for prefabricated components according to claim 1, characterized in that, The processing unit is configured to acquire a first attitude parameter and a second attitude parameter. Specifically, after the attitude change rate of the prefabricated component is lower than the stability threshold, the attitude sensor is continuously sampled within a preset time window to acquire a segment of angle time series data. The angle time series data is then processed by low-pass filtering to separate an attitude parameter representing static tilt for the calculation of the center of gravity coordinates.

5. A self-balancing intelligent hoisting system for prefabricated components according to claim 4, characterized in that, The processing unit is also configured to: synchronously calculate the variance of the angle time series data. Furthermore, the calculation of the centroid coordinates is based on... As a prerequisite for execution; among which, The variance of the angle time series data, This is a variance threshold that characterizes an acceptable measurement environment.

6. A self-balancing intelligent hoisting system for prefabricated components according to claim 1, characterized in that, The processing unit is also configured to: after initial balancing hoisting according to the executable hoisting plan, establish a reference dynamic response frequency of the precast component in the initial balancing state by performing spectrum analysis on the dynamic data collected by the attitude sensor; and monitor the real-time dynamic response frequency of the precast component online during subsequent hoisting processes. Based on the deviation between the real-time dynamic response frequency and the reference dynamic response frequency, it determines whether the center of gravity of the precast component has drifted. If the deviation exceeds the drift threshold, an alarm signal is output.

7. A self-balancing intelligent hoisting system for prefabricated components according to claim 1, characterized in that, The feasible hoisting scheme is the optimal hoisting point position coordinates on the hoisting element for single-point balanced hoisting.

8. A self-balancing intelligent hoisting system for prefabricated components according to claim 1, characterized in that, The feasible lifting scheme is a set of sling configuration parameters with defined length differences for two-point balanced lifting.

9. A self-balancing intelligent hoisting system for prefabricated components according to claim 1, characterized in that, The attitude sensor is a dual-axis tilt sensor located at the geometric center of the suspension element.

10. A self-balancing intelligent hoisting system for prefabricated components according to claim 1, characterized in that, Zero tolerance is defined as the absolute value of the tilt angle not being greater than the preset tolerance angle.

Images