Unmanned tower crane full-automatic gear speed identification and calibration method, device and system

Abstract

The invention discloses a full-automatic gear speed identification and calibration method, device and system for an unmanned tower crane, and belongs to the technical field of batteries. The method comprises the steps that a calibration instruction is received, and the tower crane is initialized; the calibration instruction comprises a to-be-calibrated target motion axis in the tower crane; under the condition that the target motion axis is located at the initial position, the target motion axis is controlled to return to the calibrated initial position; driving the target motion shaft to move gear by gear according to the target gear sequence, and calibrating calibration parameters of the target motion shaft according to the motion data of the target motion shaft; the calibration parameters comprise at least one of the average speed of each gear, the maximum deceleration and the gear switching delay time; and writing the calibration parameters into a parameter library of a control system of the tower crane, and generating a calibration report. According to the method, unmanned closed loop of the whole process from data acquisition, parameter calculation to data writing is achieved, and compared with a traditional manual calibration mode, the accuracy, safety and efficiency of tower crane parameter calibration are improved.

Description

Technical Field

[0001] This application belongs to the field of intelligent tower crane technology, and in particular relates to a method, device and system for identifying and calibrating the speed of an unmanned tower crane in a fully automatic gear position. Background Technology

[0002] In the field of engineering construction, the operational precision of large-scale construction machinery directly affects construction efficiency and operational safety. This is especially true for large-scale construction machinery such as tower cranes, where parameter calibration of core mechanisms like hoisting, slewing, and luffing is a crucial step in ensuring stable equipment operation. Through parameter calibration, accurate motion control of each mechanism of the tower crane can be achieved.

[0003] In related technologies, the parameter calibration process for large construction machinery such as tower cranes generally adopts the traditional manual operation mode, which requires technicians to be deeply involved in data collection, parameter calculation, and parameter entry throughout the entire process. However, under the manual operation mode, the continuity of data collection is difficult to guarantee, and the calculation efficiency is extremely low. Once personnel make operational errors, it is easy to cause safety accidents. Summary of the Invention

[0004] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a fully automatic gear speed identification and calibration method, device, and system for unmanned tower cranes to improve the accuracy, safety, and efficiency of tower crane parameter calibration.

[0005] Firstly, this application provides a method for identifying and calibrating the speed of a fully automatic unmanned tower crane, including: The system receives calibration instructions and initializes the tower crane; the calibration instructions include the target motion axis to be calibrated in the tower crane; the initialization is used to reduce interference from the tower crane's historical operating status. Perform a zero-return operation to control the target motion axis to return to the calibration starting position, so that the starting position of each calibration is consistent and the impact of the initial position deviation on the calibration is reduced; With the target motion axis in the starting position, the target motion axis is driven to move gear by gear in the target gear sequence, and the calibration parameters of the target motion axis are calibrated according to the motion data of the target motion axis; the calibration parameters include at least one of the average speed of each gear, maximum deceleration, and gear shift delay time. The calibration parameters are written into the parameter library of the tower crane's control system, and a calibration report is generated.

[0006] According to the fully automatic gear speed identification and calibration method for unmanned tower cranes of this application, the method involves receiving a calibration command and initializing the tower crane; the calibration command includes the target motion axis to be calibrated in the tower crane; the initialization is used to reduce interference from the tower crane's historical operating status; when the target motion axis is in the initial position, the method controls the target motion axis to return to the calibration starting position, so that the starting position of each calibration is consistent, reducing the impact of the initial position deviation on the calibration; the method drives the target motion axis to move gear by gear according to the target gear sequence, and calibrates the calibration parameters of the target motion axis according to the motion data of the target motion axis; the calibration parameters include at least one of the average speed of each gear, maximum deceleration, and gear switching delay time; the calibration parameters are written into the parameter library of the tower crane's control system, and a calibration report is generated. This embodiment of the application automatically initializes the tower crane upon receiving a calibration command. During the calibration process, the target motion axis is controlled to return to the initial calibration position, ensuring that each motion axis of the tower crane is in a preset safe and uniform initial state before calibration. This reduces the problem of difficulty in ensuring the continuity of data acquisition in traditional manual operation. By driving the target motion axis to move gear by gear according to the target gear sequence, and automatically calibrating calibration parameters such as the average speed, maximum deceleration, and gear switching delay time of each gear based on the motion data of the target motion axis, a fully unmanned closed loop from data acquisition and parameter calculation to data writing is realized. Compared with the traditional manual calibration method, the parameter calculation efficiency is improved, and the risk of safety accidents caused by human operation errors is reduced, thereby improving the accuracy, safety, and efficiency of tower crane parameter calibration.

[0007] According to one embodiment of this application, the initialization of the tower crane includes: Detecting the equipment status of the tower crane includes at least one of: detecting whether the tower crane is in a safe area and detecting whether the tower crane's sensors are working properly; When the device is in normal condition, reset the historical data and read the preset parameters; the preset parameters include at least one of the following: maximum setting, stabilization time, and sampling period.

[0008] In this embodiment, by initializing the tower crane before calibration begins, including detecting the crane's equipment status (such as whether it is in a safe area and whether the sensors are working properly), the tower crane can be kept in a safe and operational state during calibration. This reduces calibration failures or safety hazards caused by equipment malfunctions or improper positioning. If the equipment is in normal condition, subsequent operations such as resetting historical data and reading preset parameters are performed. Resetting historical data reduces interference from past data on the current calibration process. Reading preset parameters, such as maximum gear, stabilization time, and sampling period, ensures the calibration process follows established specifications and requirements, thereby improving calibration efficiency and the accuracy of calibration results.

[0009] According to one embodiment of this application, after performing a zero-return operation, the process includes: The velocity data of the target motion axis is acquired at a preset time interval. The stability of the target motion axis speed is determined based on the rate of change of the speed data acquired in multiple consecutive acquisition cycles. When the speed of the target motion axis is stable, acquire the motion data of the target motion axis within a preset time after the speed stabilizes.

[0010] In this embodiment, by acquiring motion data within a preset time after the speed stabilizes, the motion data used to calibrate the calibration parameters of the target motion axis comes from a stable motion state, reducing calibration errors caused by data fluctuations, improving calibration accuracy, and making the calibration results more accurately reflect the actual operating performance of the tower crane.

[0011] According to one embodiment of this application, acquiring the velocity data of the target motion axis with a preset duration as the acquisition period includes: The position data of the target motion axis is collected by an encoder at a preset time interval; The velocity data of the target motion axis is calculated based on the difference in position data between adjacent acquisition cycles and the preset duration.

[0012] In this embodiment, by using an encoder to collect position data, the high precision of the encoder can be utilized to improve the accuracy of position data acquisition. By calculating the difference between position data in adjacent acquisition cycles and combining it with a preset duration to determine the speed, the actual movement speed of the target motion axis in each acquisition cycle can be accurately calculated.

[0013] According to one embodiment of this application, the step of driving the target motion axis to move gear by gear in a target gear sequence includes: Drive the target motion axis to move in the current gear, and after the target motion axis speed stabilizes for the preset time, switch the current gear to the next gear; When the target motion axis moves to the soft limit, the target motion axis is controlled to stop moving, and after the speed data of the target motion axis is 0, the target motion axis is driven to move in the opposite direction.

[0014] In this embodiment, by setting a preset time for the target motion shaft to stabilize before switching gears while driving the target motion shaft in the current gear, the target motion shaft can reach a stable state and collect data in each gear, making the collected motion data more accurate. When the target motion shaft reaches the soft limit, the target motion shaft is controlled to stop moving, and after the speed data is 0, it is driven to move in the opposite direction. This can reduce the mechanical impact and damage caused by the sudden stop of the target motion shaft, and improve the safety of the tower crane during operation.

[0015] According to one embodiment of this application, the motion data includes velocity data and position data; The step of calibrating the calibration parameters of the target motion axis based on the motion data of the target motion axis includes: When the speed of the target motion axis is stable, the position data of the target motion axis is collected by the encoder at a preset time period. The velocity data of the target motion axis is calculated based on the difference in position data between adjacent acquisition cycles and the preset duration; The moving average filter is applied to the speed data from multiple acquisition cycles to obtain the average speed of the target motion axis at the current gear.

[0016] In this embodiment, by performing a moving average filter on the speed data from multiple acquisition cycles, short-term fluctuations and noise interference in the speed data can be smoothed out, reducing the impact of random factors on the speed data, and making the calculated average speed of the current gear more accurate.

[0017] According to one embodiment of this application, calibrating the calibration parameters of the target motion axis based on the motion data of the target motion axis includes: When the target motion axis is in the maximum gear and the speed of the target motion axis is stable, switch the gear to 0 and record the maximum speed of the target motion axis in the maximum gear and the target time when the speed of the target motion axis drops to the target threshold. The maximum deceleration of the target motion axis is calculated based on the maximum speed and the target time.

[0018] In this embodiment, by switching from the maximum gear and a stable speed to gear 0, the maximum speed recorded under the stable motion condition corresponding to the maximum output power of the target motion shaft is the true maximum speed of the target motion shaft under rated operating conditions. By recording the target time for the speed to decrease from the maximum speed to the target threshold, the entire time parameter of the target motion shaft from high-speed operation to deceleration to the safety threshold can be obtained. The time parameter reflects the true duration of the deceleration process of the target motion shaft. Compared with the traditional method of manually estimating deceleration time, it reduces subjective judgment errors and improves the accuracy of the maximum deceleration calculation results.

[0019] According to one embodiment of this application, calibrating the calibration parameters of the target motion axis based on the motion data of the target motion axis includes: Get the time when the gear shift command indicating to shift from gear 0 to gear 1 is issued; When the target motion axis is in gear 1, determine the stabilization time of the target motion axis speed. The gear shifting delay time from gear 0 to gear 1 is calculated based on the emission time and the stabilization time.

[0020] In this embodiment, by obtaining the issuance time of the gear shifting command, the starting node of the gear shifting operation can be determined. Under the premise that the target motion axis is already in gear 1, the stabilization time of speed can be determined. The moment when the target motion axis reaches a stable operating state after gear shifting can be determined, reducing the deviation of manual estimation of delay time and improving the accuracy of gear shifting delay time calibration.

[0021] According to one embodiment of this application, controlling the target motion axis to return to the calibration starting position includes: When the target motion axis is the lifting axis, the lifting axis is controlled to return to the starting position calibrated by the lifting axis, and the luffing axis and slewing axis do not move to the negative limit. When the target motion axis is the luffing axis, control the lifting axis to move to the upper limit position, and control the luffing axis to return to the starting position calibrated by the luffing axis; When the target motion axis is the slewing axis, control the lifting axis to move to the upper limit position, control the luffing axis to move to the inner limit position, and control the slewing axis to return to the starting position calibrated by the slewing axis.

[0022] In this embodiment, by controlling the target motion axis to return to the calibration starting position and controlling the non-target motion axis to move to other limits, the risk of collision between the tower crane and the building or other objects during the movement can be reduced, and the safety of the calibration process can be improved.

[0023] Secondly, this application provides a fully automatic gear speed identification and calibration device for unmanned tower cranes, comprising: The receiving and initialization module is used to receive calibration instructions and initialize the tower crane; the calibration instructions include the target motion axis to be calibrated in the tower crane; the initialization is used to reduce interference from the tower crane's historical operating status. The zero-return module is used to perform zero-return operations, controlling the target motion axis to return to the calibration starting position, so that the starting position of each calibration is consistent and the impact of the initial position deviation on the calibration is reduced; A calibration module is used to drive the target motion axis to move in a target gear sequence one gear at a time when the target motion axis is in the starting position, and to calibrate the calibration parameters of the target motion axis according to the motion data of the target motion axis; the calibration parameters include at least one of the average speed of each gear, maximum deceleration, and gear shift delay time; The writing module is used to write the calibration parameters into the parameter library of the control system of the tower crane and generate a calibration report.

[0024] The fully automatic gear speed identification and calibration device for unmanned tower cranes according to this application receives calibration instructions and initializes the tower crane. The calibration instructions include the target motion axis to be calibrated in the tower crane. The initialization is used to reduce interference from the tower crane's historical operating status. When the target motion axis is in the initial position, the device controls the target motion axis to return to the calibration starting position so that the starting position of each calibration is consistent, reducing the impact of the initial position deviation on the calibration. The device drives the target motion axis to move gear by gear according to the target gear sequence, and calibrates the calibration parameters of the target motion axis based on the motion data of the target motion axis. The calibration parameters include at least one of the average speed of each gear, maximum deceleration, and gear switching delay time. The calibration parameters are written into the parameter library of the tower crane's control system, and a calibration report is generated. This embodiment of the application automatically initializes the tower crane upon receiving a calibration command. During the calibration process, the target motion axis is controlled to return to the initial calibration position, ensuring that each motion axis of the tower crane is in a preset safe and uniform initial state before calibration. This reduces the problem of difficulty in ensuring the continuity of data acquisition in traditional manual operation. By driving the target motion axis to move gear by gear according to the target gear sequence, and automatically calibrating calibration parameters such as the average speed, maximum deceleration, and gear switching delay time of each gear based on the motion data of the target motion axis, a fully unmanned closed loop from data acquisition and parameter calculation to data writing is realized. Compared with the traditional manual calibration method, the parameter calculation efficiency is improved, and the risk of safety accidents caused by human operation errors is reduced, thereby improving the accuracy, safety, and efficiency of tower crane parameter calibration.

[0025] Thirdly, this application provides a fully automatic gear speed identification and calibration system for unmanned tower cranes, including: The sensing layer is used to collect position data of the tower crane's moving shaft through an encoder and calculate the speed data of the moving shaft based on the position data. The control layer is used to perform zero-return operation, control the target motion axis to return to the calibration starting position, so that the starting position of each calibration is consistent and the influence of the initial position deviation on the calibration is reduced; and drive the target motion axis to move gear by gear according to the preset gear sequence. The calculation layer is used to calibrate the calibration parameters of the target motion axis based on the motion data of the target motion axis; the calibration parameters include at least one of the average speed of each gear, maximum deceleration, and gear shift delay time. The configuration layer is used to write the calibration parameters into the parameter library of the tower crane's control system and generate a calibration report.

[0026] The fully automatic gear speed identification and calibration system for unmanned tower cranes according to this application receives calibration instructions and initializes the tower crane. The calibration instructions include the target motion axis to be calibrated in the tower crane. The initialization is used to reduce interference from the tower crane's historical operating status. When the target motion axis is in the initial position, the system controls the target motion axis to return to the calibration starting position so that the starting position of each calibration is consistent, reducing the impact of the initial position deviation on the calibration. The system drives the target motion axis to move gear by gear according to the target gear sequence, and calibrates the calibration parameters of the target motion axis based on the motion data of the target motion axis. The calibration parameters include at least one of the average speed of each gear, maximum deceleration, and gear switching delay time. The calibration parameters are written into the parameter library of the tower crane's control system, and a calibration report is generated. This embodiment of the application automatically initializes the tower crane upon receiving a calibration command. During the calibration process, the target motion axis is controlled to return to the initial calibration position, ensuring that each motion axis of the tower crane is in a preset safe and uniform initial state before calibration. This reduces the problem of difficulty in ensuring the continuity of data acquisition in traditional manual operation. By driving the target motion axis to move gear by gear according to the target gear sequence, and automatically calibrating calibration parameters such as the average speed, maximum deceleration, and gear switching delay time of each gear based on the motion data of the target motion axis, a fully unmanned closed loop from data acquisition and parameter calculation to data writing is realized. Compared with the traditional manual calibration method, the parameter calculation efficiency is improved, and the risk of safety accidents caused by human operation errors is reduced, thereby improving the accuracy, safety, and efficiency of tower crane parameter calibration.

[0027] Fourthly, this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the fully automatic gear speed identification and calibration method for unmanned tower cranes as described in the first aspect above.

[0028] Fifthly, this application provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the fully automatic gear speed identification and calibration method for unmanned tower cranes as described in the first aspect above.

[0029] In a sixth aspect, this application provides a chip, which includes a processor and a communication interface, the communication interface being coupled to the processor, and the processor being used to run programs or instructions to implement the fully automatic gear speed identification and calibration method for unmanned tower cranes as described in the first aspect above.

[0030] In a seventh aspect, this application provides a computer program product, including a computer program that, when executed by a processor, implements the fully automatic gear speed identification and calibration method for unmanned tower cranes as described in the first aspect above.

[0031] The above-described one or more technical solutions in the embodiments of this application have at least one of the following technical effects: According to the fully automatic gear speed identification and calibration method for unmanned tower cranes of this application, the method involves receiving a calibration command and initializing the tower crane; the calibration command includes the target motion axis to be calibrated in the tower crane; the initialization is used to reduce interference from the tower crane's historical operating status; when the target motion axis is in the initial position, the method controls the target motion axis to return to the calibration starting position, so that the starting position of each calibration is consistent, reducing the impact of the initial position deviation on the calibration; the method drives the target motion axis to move gear by gear according to the target gear sequence, and calibrates the calibration parameters of the target motion axis according to the motion data of the target motion axis; the calibration parameters include at least one of the average speed of each gear, maximum deceleration, and gear switching delay time; the calibration parameters are written into the parameter library of the tower crane's control system, and a calibration report is generated. This embodiment of the application automatically initializes the tower crane upon receiving a calibration command. During the calibration process, the target motion axis is controlled to return to the initial calibration position, ensuring that each motion axis of the tower crane is in a preset safe and uniform initial state before calibration. This reduces the problem of difficulty in ensuring the continuity of data acquisition in traditional manual operation. By driving the target motion axis to move gear by gear according to the target gear sequence, and automatically calibrating calibration parameters such as the average speed, maximum deceleration, and gear switching delay time of each gear based on the motion data of the target motion axis, a fully unmanned closed loop from data acquisition and parameter calculation to data writing is realized. Compared with the traditional manual calibration method, the parameter calculation efficiency is improved, and the risk of safety accidents caused by human operation errors is reduced, thereby improving the accuracy, safety, and efficiency of tower crane parameter calibration.

[0032] In some embodiments, by initializing the tower crane before calibration begins, including detecting the tower crane's equipment status (such as whether the tower crane is in a safe area and whether the sensors are working properly), the tower crane can be kept in a safe and operational state during calibration, reducing calibration failures or safety hazards caused by equipment malfunctions or improper positioning. If the equipment is in normal condition, subsequent operations such as resetting historical data and reading preset parameters are performed. Resetting historical data reduces interference from past data on the current calibration process. Reading preset parameters, such as maximum gear, stabilization time, and sampling period, ensures that the calibration process follows established specifications and requirements, thereby improving calibration efficiency and the accuracy of calibration results.

[0033] In some embodiments, by acquiring motion data within a preset time period after the speed stabilizes, the motion data used to calibrate the calibration parameters of the target motion axis originates from a stable motion state, reducing calibration errors caused by data fluctuations, improving calibration accuracy, and making the calibration results more accurately reflect the actual operating performance of the tower crane.

[0034] In some embodiments, by using an encoder to collect position data, the high precision characteristics of the encoder can be utilized to improve the accuracy of position data acquisition. By calculating the difference between position data in adjacent acquisition cycles and combining it with a preset duration to determine the speed, the actual movement speed of the target motion axis in each acquisition cycle can be accurately calculated.

[0035] In some embodiments, by setting a preset time for the target motion shaft speed to stabilize before switching gears while driving the target motion shaft in the current gear, the target motion shaft can reach a stable state and collect data in each gear, making the collected motion data more accurate. When the target motion shaft reaches the soft limit, the target motion shaft is controlled to stop moving, and after the speed data is 0, it is driven to move in the opposite direction. This can reduce the mechanical impact and damage caused by the sudden stop of the target motion shaft, and improve the safety of the tower crane during operation.

[0036] In some embodiments, by performing a moving average filter on speed data from multiple acquisition cycles, short-term fluctuations and noise interference in the speed data can be smoothed out, the impact of random factors on the speed data can be reduced, and the calculated average speed for the current gear can be made more accurate.

[0037] In some embodiments, by switching from the maximum gear and a stable speed to gear 0, the maximum speed recorded when the target motion shaft is in a stable motion condition corresponding to the maximum output power is the true maximum speed of the target motion shaft under rated operating conditions. By recording the target time for the speed to decrease from the maximum speed to the target threshold, the time parameter of the entire process of the target motion shaft from high-speed operation to deceleration to the safety threshold can be obtained. The time parameter reflects the true duration of the deceleration process of the target motion shaft. Compared with the traditional method of manually estimating deceleration time, it reduces subjective judgment errors and improves the accuracy of the maximum deceleration calculation results.

[0038] In some embodiments, by obtaining the issuance time of the gear shift command, the starting point of the gear shift operation can be determined. Under the premise that the target motion axis is already in gear 1, the stabilization time of the speed can be determined. The moment when the target motion axis reaches a stable operating state after gear shift can be determined, reducing the deviation of manual estimation of delay time and improving the accuracy of gear shift delay time calibration.

[0039] In some embodiments, by controlling the target motion axis to return to the calibration starting position and controlling the non-target motion axis to move to other limits, the risk of collision with the building or other objects during the tower crane's movement can be reduced, thereby improving the safety of the calibration process.

[0040] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0041] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a flowchart illustrating the fully automatic gear speed identification and calibration method for unmanned tower cranes provided in this application embodiment; Figure 2 This is a schematic diagram of the structure of the fully automatic gear speed identification and calibration device for unmanned tower cranes provided in the embodiments of this application; Figure 3 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0043] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0044] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0045] In the current operation and maintenance system of unmanned tower cranes, speed calibration, as a core link to ensure the accurate operation of the equipment, has long relied on traditional manual operation. The limitations of this method have become a significant bottleneck restricting the upgrade to unmanned operation. Under traditional methods, technicians need to participate in the entire speed acquisition process: from controlling each motion axis of the tower crane (such as hoisting, slewing, and luffing mechanisms) according to preset gears, to recording speed data under different working conditions in real time, every step requires manual intervention. This mode not only consumes a large amount of manpower, but also, due to the continuous and repetitive nature of the operation, easily leads to personnel fatigue, thus affecting the consistency and accuracy of data acquisition.

[0046] After data collection, the manual calculation process further amplifies the risk of errors. Technicians must calculate key parameters such as average speed and acceleration for each gear level based on the recorded raw data, using manual conversion or simple tools. This process inevitably leads to reading deviations and formula misuse, ultimately resulting in significant discrepancies between the calibration results and actual operating conditions. Furthermore, the entire process is time-consuming; a single complete calibration often takes at least an hour, severely impacting the efficiency of tower crane downtime maintenance and indirectly increasing construction costs.

[0047] More importantly, there are significant safety hazards during manual operation. As large-scale construction machinery, tower cranes involve complex mechanical changes in the starting, stopping, and speed changes of their moving parts. If manual operation results in misjudgment, delayed reaction, or accidental activation of control devices, it may lead to safety accidents such as overspeeding, exceeding limits, or even structural collisions, posing a serious threat to the equipment and surrounding personnel.

[0048] To address the aforementioned technical challenges, this application innovatively proposes a fully automated speed calibration technology, achieving unmanned operation throughout the entire process from data acquisition to parameter application. This application automatically drives each axis of the tower crane to complete multiple movement levels according to preset logic, simultaneously collecting real-time speed, position, and other motion data. It can also automatically perform complex calculations such as data cleaning, average speed calculation, and acceleration fitting, reducing errors from manual calculations. Finally, the calibration results are directly stored in the equipment control system via an automatic writing mechanism, requiring no manual intervention.

[0049] The following description, in conjunction with the accompanying drawings, details the fully automatic gear speed identification and calibration method, device, and system for unmanned tower cranes provided in this application, through specific embodiments and application scenarios.

[0050] The unmanned tower crane fully automatic gear speed identification and calibration method provided in this application embodiment can be executed by an electronic device or a functional module or entity in an electronic device that can realize the unmanned tower crane fully automatic gear speed identification and calibration method. The electronic devices mentioned in this application embodiment include, but are not limited to, tablet computers, computers, embedded controllers, programmable logic controllers, etc. The following uses an electronic device as the execution subject to illustrate the unmanned tower crane fully automatic gear speed identification and calibration method provided in this application embodiment.

[0051] like Figure 1 As shown, the fully automatic gear speed identification and calibration method for unmanned tower cranes includes steps 110, 120, 130 and 140.

[0052] Step 110: Receive calibration instructions and initialize the tower crane; the calibration instructions include the target motion axis to be calibrated in the tower crane; initialization is used to reduce interference from the tower crane's historical operating status.

[0053] A tower crane is a large engineering machine used for lifting and moving heavy objects. It can include a tower body, slewing mechanism, luffing mechanism, hoisting mechanism, and control system.

[0054] The tower crane's operational functions are achieved through the coordinated movement of three main motion axes, which can include the lifting axis, slewing axis, and luffing axis. The lifting axis controls the raising and lowering of the hook, enabling the vertical displacement of the load; the slewing axis enables the horizontal rotation of the tower crane's boom, thereby transferring the load to different positions; and the luffing axis controls the extension and retraction of the boom or the movement of the luffing trolley, adjusting the horizontal working radius of the hook to achieve radial displacement of the load.

[0055] A calibration command is a signal used to initiate the tower crane calibration process. Calibration commands can be obtained in various ways. For example, through the intelligent tower crane's calibration software or a web browser, the operator can select the motion axis to be identified, such as one of the lifting axis, slewing axis, or luffing axis, or select multiple motion axes and set the calibration order. Calibration parameter configurations, such as sampling period and calibration mode, can also be set. Then, clicking the "Start Identification" button generates the calibration command. The target motion axis is the motion axis that needs parameter identification and calibration during this calibration process; that is, the motion axis specified in the calibration command.

[0056] Upon receiving the calibration command, the tower crane enters the initialization phase. The purpose of initialization is to restore the various system modules of the tower crane to a known and stable basic state, reduce interference from the tower crane's historical operating state, and provide a unified and accurate starting benchmark for subsequent calibration work. This ensures that the measurement and calculation of various parameters during the calibration process can be carried out under consistent initial conditions, thereby improving the accuracy of the calibration results.

[0057] In some embodiments, initializing the tower crane includes: The equipment status of the tower crane is monitored, including at least one of the following: whether the tower crane is in a safe area and whether the tower crane's sensors are working properly. If the device is in normal condition, reset the historical data and read the preset parameters; the preset parameters include at least one of the following: maximum setting, stabilization time, and sampling period.

[0058] In this embodiment, the safe zone is a preset area where there is no personnel activity, no obstacles, or that meets the requirements for tower crane movement space. By detecting whether the tower crane is in the safe zone, potential safety hazards in the subsequent calibration process can be reduced.

[0059] For example, sensors installed around the tower crane can detect whether it is in a safe zone. If an anomaly is detected during the detection process, an alarm mechanism can be triggered to remind operators to handle the anomaly promptly, thus preventing safety accidents during calibration.

[0060] Tower crane sensors include, but are not limited to, position sensors for collecting target motion axis position data, speed sensors for collecting motion speed data, and status sensors for monitoring equipment operating status. By checking whether the tower crane's sensors are working properly, sensor faults can be identified in a timely manner, improving the reliability of the calibration process from the source of data acquisition.

[0061] When the equipment status is detected as normal, the initialization process can proceed to the next step, such as resetting historical data and reading preset parameters. Historical data may include, but is not limited to, historical gear shift records, historical motion speed data, and historical deceleration calculation results. Resetting historical data is to reduce the impact of residual data from previous operations on the current calibration.

[0062] Preset parameters can include the maximum gear level (e.g., gears 1-6), stabilization time (e.g., 5 seconds), and sampling period (e.g., 0.2 seconds). The maximum gear level parameter defines the highest gear level the tower crane can achieve during calibration; different gear levels correspond to different speed and torque characteristics. The stabilization time parameter determines the length of time the tower crane's motion shaft operates stably at each gear level during calibration, ensuring sufficiently stable and accurate motion data. The sampling period parameter determines the frequency of data acquisition, i.e., how often the motion data of the motion shaft is collected. It is important to note that the positive or negative gear level only indicates the direction of motion and has no absolute relationship with the speed value. For example, a positive gear level indicates forward motion of the motion shaft, and a negative gear level indicates reverse motion.

[0063] In this embodiment, by initializing the tower crane before calibration begins, including detecting the crane's equipment status (such as whether it is in a safe area and whether the sensors are working properly), the tower crane can be kept in a safe and operational state during calibration. This reduces calibration failures or safety hazards caused by equipment malfunctions or improper positioning. If the equipment is in normal condition, subsequent operations such as resetting historical data and reading preset parameters are performed. Resetting historical data reduces interference from past data on the current calibration process. Reading preset parameters, such as maximum gear, stabilization time, and sampling period, ensures the calibration process follows established specifications and requirements, thereby improving calibration efficiency and the accuracy of calibration results.

[0064] Step 120: Perform a zero-return operation to control the target motion axis back to the calibration starting position, so that the starting position of each calibration is consistent and the impact of the initial position deviation on the calibration is reduced.

[0065] The starting position for calibration is the specific position that the target motion axis needs to reach before the calibration operation. By returning the target motion axis to the starting position, each calibration operation can be performed under the same initial conditions, thereby reducing the impact of initial position deviation on data acquisition and calibration results.

[0066] In this embodiment, the current position of the target motion axis can be detected by an encoder. If the target motion axis is not in the starting position, a control command can be issued to drive the target motion axis to move to the starting position, thereby ensuring that the starting position of each calibration is consistent. This allows the motion data of the target motion axis at different speeds to be collected and analyzed based on the same benchmark, reducing the impact of initial position deviation on calibration. In the electrical control system of a tower crane, an encoder is a position sensor, typically installed on the drive motor shaft or drum shaft of each motion axis of the tower crane. The encoder converts the rotational motion of the mechanical shaft into a series of electrical pulse signals to provide real-time feedback of the motion axis's position data.

[0067] In some embodiments, controlling the target motion axis to return to the calibration starting position includes: When the target motion axis is the lifting axis, control the lifting axis to return to the starting position calibrated by the lifting axis, and prevent the luffing axis and slewing axis from moving to the negative limit; When the target motion axis is the luffing axis, control the lifting axis to move to the upper limit position, and control the luffing axis to return to the starting position calibrated by the luffing axis; When the target motion axis is a rotary axis, control the lifting axis to move to the upper limit position, control the luffing axis to move to the inner limit position, and control the rotary axis to return to the starting position calibrated by the rotary axis.

[0068] In this embodiment, the limit position refers to a safe operating boundary position set by mechanical, electrical, or software means to prevent the motion axis from exceeding the design range and causing mechanical collisions, structural overloads, or other safety accidents. The zero-return node can control each motion axis to return to the negative limit position. The negative limit position is a specific position within the motion range of the motion axis, such as the starting point of the motion axis's stroke or the innermost / uppermost mechanical limit position.

[0069] In this embodiment, the significance of the zero-return operation is as follows: When the target motion axis is a lifting axis, the lifting axis is controlled to return to its calibrated starting position. This calibrated starting position can be selected outside the deceleration limit to prevent speed restriction. Since the luffing and slewing axes will not collide with the lifting axis, they do not need to move to the negative limit. The deceleration limit is a specific position within the tower crane's motion axis's range of motion used to trigger deceleration. When the motion axis approaches its travel limit, deceleration is triggered at the deceleration limit, gradually reducing the motion axis from normal operating speed, ensuring a smooth arrival at the limit position and avoiding impact or collision due to excessive speed. When the target motion axis is a luffing axis, for safety reasons, the lifting axis can be controlled to move to the upper limit position. This reduces the risk of collision with buildings or other objects during the luffing axis's return to its calibrated starting position. The luffing axis's motion value is then controlled to its starting position, such as the inner limit. The upper limit is the maximum travel position of the tower crane's motion axis within its range of motion; for the lifting axis, the upper limit refers to the highest position of the hook or lifting device. When the target motion axis is a slewing axis, controlling the lifting axis to move to its upper limit, then controlling the luffing axis to move to its inner limit, and finally controlling the slewing axis to return to its calibrated starting position can reduce the risk of collisions during the slewing axis's movement. The inner limit of the luffing axis is the minimum amplitude position of the trolley or boom. It should be noted that the starting positions of the lifting axis, luffing axis, and slewing axis can be preset by the operator; this embodiment does not limit this.

[0070] In this embodiment, by controlling the target motion axis to return to the calibration starting position and controlling the non-target motion axis to move to other limits, the risk of collision between the tower crane and the building or other objects during the movement can be reduced, and the safety of the calibration process can be improved.

[0071] Step 130: Drive the target motion axis to move in gears according to the target gear sequence, and calibrate the calibration parameters of the target motion axis according to the motion data of the target motion axis; the calibration parameters include at least one of the average speed of each gear, maximum deceleration and gear shift delay time.

[0072] In this embodiment, the target gear sequence is an ordered list of gears that the target motion shaft needs to pass through sequentially during the calibration process. These gears can be preset according to the actual working requirements and design parameters of the tower crane. For example, for a hoisting shaft with six gears, the target gear sequence can be sequentially increased from gear 1 to gear 6, or other gear sequences can be used according to specific calibration requirements.

[0073] When driving the target motion axis, it can be switched to each gear sequentially according to the target gear sequence, and the target motion axis can run in each gear for a period of time. At each gear, motion data of the target motion axis, such as velocity data, acceleration data, and position data, are collected.

[0074] During the movement of the target motion axis according to the target gear sequence, calibration parameters of the target motion axis can be calibrated based on the collected motion data. Calibration parameters include at least one of the following: average speed at each gear, maximum deceleration, and gear shift delay time.

[0075] The average speed at each gear level refers to the average speed of the target motion axis over a certain period of time at each gear level. This average speed can be obtained by collecting speed data of the target motion axis at each gear level and calculating its average value over a specific time period. Calibrating the average speed parameters at each gear level helps operators better control the tower crane's movement speed, improving the tower crane's operating efficiency and safety under different working conditions.

[0076] Maximum deceleration is the maximum deceleration value that the target moving axis can achieve during the deceleration process. The maximum deceleration can be obtained by collecting the acceleration data of the target moving axis during deceleration and finding the maximum value. By calibrating the maximum deceleration, the performance of the tower crane during emergency braking or normal deceleration can be determined, enabling the tower crane to stop safely in emergency situations.

[0077] Gear shift delay time is the time required for a target motion axis to switch from one gear to another. It is calculated by determining the time difference between the moment the target motion axis begins shifting gears and the moment the axis actually reaches the new gear and stabilizes. Calibrating the gear shift delay time can help optimize the tower crane's control algorithm, reduce time delays during gear shifting, and improve the tower crane's operating efficiency.

[0078] Step 140: Write the calibration parameters into the parameter library of the tower crane's control system and generate a calibration report.

[0079] In this embodiment, after the calibration parameters are calculated, they can be automatically written to the corresponding motion axis configuration file or database record through a standard interface for data interaction with the tower crane control system parameter library. During the writing process, old values ​​in the parameter library can be read and then overwritten with new calibration parameters. The writing process requires no manual intervention, improving the efficiency and accuracy of parameter updates.

[0080] After the parameters are successfully written or the calibration process is completed, a structured calibration report can be generated. The calibration report summarizes the entire calibration process and may include the following information: basic information about the calibration task, such as calibration time, tower crane equipment number, and target motion axis identification; data from the calibration process, such as target gear sequence, sampling period, and data stabilization time; and the final status of the calibration process, such as "success" or "failure." If an error or abnormality occurs during the calibration process, the calibration report may also include the error code, the time of the error, and an error description. For example, error code 0x1001, where the first digit represents the axis number (1 for lifting axis, 2 for slewing axis, and 3 for luffing axis), and subsequent numbers indicate the specific fault type.

[0081] According to the fully automatic gear speed identification and calibration method for unmanned tower cranes of this application, the tower crane is initialized by receiving calibration instructions; the calibration instructions include the target motion axis to be calibrated in the tower crane; the target motion axis is controlled to return to the starting position of calibration; the target motion axis is driven to move gear by gear according to the target gear sequence; the calibration parameters of the target motion axis are calibrated according to the motion data of the target motion axis; the calibration parameters include at least one of the average speed of each gear, the maximum deceleration, and the gear switching delay time; the calibration parameters are written into the parameter library of the tower crane's control system, and a calibration report is generated. This embodiment of the application automatically initializes the tower crane upon receiving a calibration command. During the calibration process, the target motion axis is controlled to return to the initial calibration position, ensuring that each motion axis of the tower crane is in a preset safe and uniform initial state before calibration. This reduces the problem of difficulty in ensuring the continuity of data acquisition in traditional manual operation. By driving the target motion axis to move gear by gear according to the target gear sequence, and automatically calibrating calibration parameters such as the average speed, maximum deceleration, and gear switching delay time of each gear based on the motion data of the target motion axis, a fully unmanned closed loop from data acquisition and parameter calculation to data writing is realized. Compared with the traditional manual calibration method, the parameter calculation efficiency is improved, and the risk of safety accidents caused by human operation errors is reduced, thereby improving the accuracy, safety, and efficiency of tower crane parameter calibration.

[0082] In some embodiments, after performing the zero-return operation, the following is included: The velocity data of the target motion axis is acquired at a preset time interval. The stability of the target motion axis speed is determined by the rate of change of speed data acquired in multiple consecutive acquisition cycles. Under the condition that the speed of the target motion axis is stable, acquire the motion data of the target motion axis within a preset time after the speed stabilizes.

[0083] In this embodiment, a preset duration can be set as the acquisition period to periodically acquire the velocity data of the target motion axis. For example, the preset duration can be 0.1 seconds, 0.2 seconds, 0.3 seconds, or other values, and this embodiment does not limit this.

[0084] After acquiring velocity data for multiple consecutive acquisition cycles, the rate of change of the velocity data within these cycles can be analyzed. Specifically, the rate of change of velocity data between adjacent acquisition cycles can be calculated using a sliding window, and the rate of change of velocity data between adjacent acquisition cycles can be used to determine whether the velocity of the target motion axis is stable. If the rate of change of velocity data within multiple consecutive adjacent acquisition cycles is lower than a preset threshold, it indicates that the motion fluctuation of the target motion axis is small, and the velocity of the target motion axis can be determined to be stable. The preset threshold can be 0.5%, 1%, 2%, or other values; this embodiment does not limit this.

[0085] If the speed of the target motion axis has stabilized, motion data of the target motion axis within a preset time period after the speed stabilizes can be acquired. The preset time can be 3 seconds, 5 seconds, 6 seconds, etc. For example, after the speed of the target motion axis has stabilized, motion data of the target motion axis within 5 seconds can be acquired, such as speed data, acceleration data, position data, etc.

[0086] In this embodiment, by acquiring motion data within a preset time after the speed stabilizes, the motion data used to calibrate the calibration parameters of the target motion axis comes from a stable motion state, reducing calibration errors caused by data fluctuations, improving calibration accuracy, and making the calibration results more accurately reflect the actual operating performance of the tower crane.

[0087] In some embodiments, acquiring velocity data of the target motion axis at a preset duration as the acquisition period includes: The encoder collects position data of the target motion axis at a preset time interval. The velocity data of the target motion axis is calculated based on the difference in position data between adjacent acquisition cycles and the preset duration.

[0088] In this embodiment, each motion axis of the tower crane can be equipped with a high-precision encoder, which is mechanically coupled to the rotating shaft of the drive motor or drum. When the target motion axis moves, the encoder shaft rotates synchronously and outputs a series of electrical pulse signals proportional to the rotation angle or displacement. At the beginning of each acquisition cycle, a data reading operation can be triggered to obtain the current position data of the target motion axis from the encoder interface circuit.

[0089] After acquiring position data for two consecutive acquisition cycles, the difference between the position data between adjacent acquisition cycles can be calculated, and the ratio of this difference to a preset duration can be used to calculate the velocity data of the target motion axis.

[0090] In this embodiment, by using an encoder to collect position data, the high precision characteristics of the encoder can be utilized to improve the accuracy of position data acquisition. By calculating the difference in position data between adjacent acquisition cycles and combining it with a preset duration to determine the speed, the actual movement speed of the target motion axis in each acquisition cycle can be accurately calculated.

[0091] In some embodiments, driving the target motion axis to move in a preset gear sequence includes: Drive the target motion axis to move in the current gear, and after the target motion axis speed stabilizes for a preset time, switch the current gear to the next gear; When the target motion axis reaches the soft limit, control the target motion axis to stop moving. After the speed data of the target motion axis is 0, drive the target motion axis to move in the opposite direction.

[0092] In this embodiment, during the movement of the target motion axis in the current gear, the speed data of the target motion axis can be monitored to determine whether the speed has reached a stable state. After the target motion axis speed stabilizes for a preset time, the current gear is switched to the next gear. For example, according to calibration requirements, the preset time is 5 seconds. During the 5 seconds that the target motion axis speed is stable, motion data of the target motion axis can be collected, and after 5 seconds, the current gear is switched to the next gear.

[0093] A soft limit can be a virtual boundary position set by software, located inside a mechanical hard limit. During the movement of the target motion axis, the current position data fed back by the encoder can be compared with the position threshold of the soft limit to determine whether the target motion axis has moved to the soft limit. When the target motion axis moves to the soft limit, it can be controlled to stop moving, and after the speed data of the target motion axis drops to 0, it can be driven to move in the opposite direction, so that the target motion axis returns to a safe area with sufficient remaining travel, and continues to acquire speed at the current gear.

[0094] In this embodiment, by setting a preset time for the target motion shaft to stabilize before switching gears while driving the target motion shaft in the current gear, the target motion shaft can reach a stable state and collect data in each gear, making the collected motion data more accurate. When the target motion shaft reaches the soft limit, the target motion shaft is controlled to stop moving, and after the speed data is 0, it is driven to move in the opposite direction. This can reduce the mechanical impact and damage caused by the sudden stop of the target motion shaft, and improve the safety of the tower crane during operation.

[0095] Below is an example of calculating the average speed of the target motion axis at each gear based on speed and position data.

[0096] In some embodiments, motion data includes velocity data and position data; The calibration parameters of the target motion axis are determined based on the motion data of the target motion axis, including: When the speed of the target motion axis is stable, the position data of the target motion axis is collected by the encoder at a preset time period. The velocity data of the target motion axis is calculated based on the difference in position data between adjacent acquisition cycles and the preset duration. The moving average filter is applied to the speed data from multiple acquisition cycles to obtain the average speed of the target motion axis at the current gear.

[0097] In this embodiment, when the speed of the target motion axis is stable, the position data of the target motion axis can be read from the encoder at a preset duration, such as 0.2 seconds. During the acquisition of position data, the difference between the position data of adjacent acquisition cycles can be calculated as the displacement of the target motion axis within one acquisition cycle. Then, the displacement is divided by the duration of the acquisition cycle to obtain the speed data of the target motion axis.

[0098] Considering the electromagnetic characteristics of the motor, the backlash in the mechanical transmission, and the measurement noise of the encoder, the directly calculated speed data may contain high-frequency jitter, specifically manifested as small oscillations in the speed curve. To smooth out these fluctuations and obtain an average speed that better represents the speed of that gear, a moving average filter can be applied to the speed data from multiple acquisition cycles.

[0099] For example, a moving average filter with a length of 10 can be used, which involves averaging the speed data from 10 consecutive acquisition cycles to obtain the average speed of the target motion axis at its current gear. By performing similar processing on the motion data of the target motion axis at different gears, the average speed of the target motion axis at each gear can be obtained.

[0100] In this embodiment, by performing a moving average filter on the speed data from multiple acquisition cycles, short-term fluctuations and noise interference in the speed data can be smoothed out, reducing the impact of random factors on the speed data, and making the calculated average speed of the current gear more accurate.

[0101] Below is an example of calculating the maximum deceleration of the target motion axis based on the maximum speed and the target time.

[0102] In some embodiments, calibrating the calibration parameters of the target motion axis based on the motion data of the target motion axis includes: With the target motion axis in the maximum gear and its speed stable, switch the gear to 0 and record the maximum speed of the target motion axis in the maximum gear and the target time for the speed of the target motion axis to drop to the target threshold. Calculate the maximum deceleration of the target's motion axis based on the maximum speed and the target time.

[0103] In this embodiment, when driving the target motion axis according to a preset gear sequence, the current operating gear can be monitored. When the current gear of the target motion axis is the maximum gear and the speed of the target motion axis has reached a stable state, a braking test can be performed by switching the current gear to 0 gear, that is, cutting off the drive power and applying braking.

[0104] It can record the maximum speed Vmax of the target motion axis at the maximum gear and continue to monitor the speed data changes at a preset acquisition cycle until the speed of the target motion axis drops below a target threshold. The duration from the moment the gear is switched to 0 to the first sustained period below the target threshold is recorded, i.e., the target time t. The target threshold is a very small speed value used to determine that the target motion axis has essentially stopped or its kinetic energy has dropped to a safe level. For example, for a linear axis, the target threshold can be set to less than 1 cm / s; for a rotary axis, the target threshold can be set to less than 0.0001 rad / s.

[0105] According to the kinematic formula, the magnitude of acceleration is equal to the change in velocity divided by the time taken for that change to occur. Dividing the maximum velocity Vmax by the target time t gives the acceleration, which is the maximum deceleration of the target axis of motion.

[0106] In actual tower crane operation trajectory planning, to shorten the operation cycle and improve operating efficiency, the maximum deceleration that the equipment can withstand is usually used as the upper limit of the constraint for the motion deceleration phase. By obtaining the maximum deceleration of the target motion axis at each gear through calibration, the trajectory planning algorithm can use the maximum deceleration as the constraint for the deceleration phase, and reach the target position smoothly and quickly through the optimal deceleration process.

[0107] In this embodiment, by switching from the maximum gear and a stable speed to gear 0, the maximum speed recorded under the stable motion condition corresponding to the maximum output power of the target motion shaft is the true maximum speed of the target motion shaft under rated operating conditions. By recording the target time for the speed to decrease from the maximum speed to the target threshold, the entire time parameter of the target motion shaft from high-speed operation to deceleration to the safety threshold can be obtained. The time parameter reflects the true duration of the deceleration process of the target motion shaft. Compared with the traditional method of manually estimating deceleration time, it reduces subjective judgment errors and improves the accuracy of the maximum deceleration calculation results.

[0108] Below is an example of calculating the delay time when shifting gears from 0 to 1.

[0109] In some embodiments, calibrating the calibration parameters of the target motion axis based on the motion data of the target motion axis includes: Get the time when the gear shift command indicating to shift from gear 0 to gear 1 is issued; Determine the settling time of the target motion axis speed when it is in gear 1. The gear shift delay time from 0 to 1 is calculated based on the issuance time and stabilization time.

[0110] In this embodiment, when switching from gear 0 (stop state) to gear 1 (lowest working gear), a gear switching command can be sent to the tower crane's drive system, and the time of the gear switching command can be recorded.

[0111] Determine the settling time of the target motion axis speed when it is in gear 1.

[0112] The gear shift delay time is the time interval between the issuance of the gear shift command and the actual stable operating state of the target motion axis, i.e., the stabilization time minus the issuance time. However, since data processing and status determination are performed in acquisition cycles (e.g., 0.2 seconds) during calibration, the calculation process can also involve counting the number of acquisition cycles from the time of issuance to the time of stabilization, and then multiplying the number of acquisition cycles by the duration of a single acquisition cycle to obtain the gear switching delay time.

[0113] In this embodiment, by obtaining the issuance time of the gear shifting command, the starting node of the gear shifting operation can be determined. Under the premise that the target motion axis is already in gear 1, the stabilization time of speed can be determined. The moment when the target motion axis reaches a stable operating state after gear shifting can be determined, reducing the deviation of manual estimation of delay time and improving the accuracy of gear shifting delay time calibration.

[0114] In this embodiment, the gear switching delay time from gear 0 to gear 1 is used as a calibration parameter. The aim is to address the difference in delay time between the three major motion axes of the tower crane—the hoisting shaft, luffing shaft, and slewing shaft—during the gear switching process from 0 to 1, thereby achieving synchronous movement of the three axes. Specifically, the operation of a tower crane typically requires the coordinated movement of the three axes to complete the handling and positioning of goods. However, due to differences in the mechanical structure characteristics and drive system parameters of the three axes, different gear switching delay times occur when switching from gear 0 (stationary state) to gear 1 (initial motion gear). This means that some axes start moving before the others, resulting in asynchronous starting of the three axes. By calibrating the gear switching delay time of each axis from gear 0 to gear 1, the start-up delay difference between the three axes can be obtained. Subsequently, when controlling the synchronous movement of the three axes, a corresponding waiting time can be set for the axis that starts faster based on the calibrated delay time. This allows the axis to wait for the axis that starts slower during startup until all three axes have completed the gear switching from 0 to 1 and entered the movement state synchronously. This reduces the problem of asynchronous movement caused by the difference in start-up delay among the three axes, enabling the three axes to move collaboratively according to the preset trajectory and improving the stability and safety of the unmanned tower crane operation process.

[0115] The following scenario example illustrates the process of the fully automatic gear speed identification and calibration method for unmanned tower cranes according to this application.

[0116] Step 1, External Triggering Step.

[0117] First, the calibration command is initiated through the calibration software or web browser of the unmanned tower crane. For example, the operator selects the target motion axis to be calibrated (which can be the lifting axis, slewing axis or luffing axis) in the interactive interface and clicks the "Start Identification" button. The interface system then sends the calibration command containing the target motion axis information to the tower crane's system controller through the communication interface, triggering the start of the calibration process.

[0118] Step 2, Initialization Phase.

[0119] After receiving the above calibration command, the system controller automatically performs the initialization operation: The first step is to check the equipment status of the tower crane, specifically checking whether the tower crane is within the preset safe area and whether the sensors associated with the target motion axis (such as position encoders and speed sensors) are working properly. If the equipment status is abnormal, the system controller will trigger an audible and visual alarm and terminate the calibration process. If the equipment status is normal, proceed to the next step. The second step is for the system controller to automatically reset historical data and read preset parameters. Preset parameters can be, for example, the maximum gear 1-6, the speed stabilization judgment time (default 5 seconds), and the data sampling period (0.2 seconds). It should be noted that in this embodiment, the positive and negative values ​​of the gear are only used to characterize the movement direction of the target motion axis. For example, the positive direction of the lifting axis is upward and the negative direction is downward, and it is not related to the speed value corresponding to the gear.

[0120] Step 3, the zero-return phase.

[0121] After initialization, the system enters the homing phase. Based on the type of the target motion axis, the system controller controls the corresponding axis to perform a homing operation to establish a unified calibration reference: if the axis to be calibrated is a lifting axis, only the lifting axis is controlled to return to the negative limit, while the luffing axis and slewing axis maintain their current positions and do not move to the negative limit. After the lifting axis reaches the negative limit, it directly enters the subsequent calibration.

[0122] If the target motion axis to be calibrated is a luffing axis, first control the lifting axis to return to the upper limit position to avoid collisions with the building or obstacles during subsequent movement, then control the luffing axis to return to the inner limit position to proceed with subsequent calibration; if the target motion axis to be calibrated is a slewing axis, proceed with subsequent calibration after the lifting axis reaches the upper limit position and the luffing axis reaches the inner limit position.

[0123] The core purpose of the zeroing operation in this stage is to eliminate the deviation of the initial position of the target motion axis under different calibration cycles, ensure that the starting reference of each calibration is consistent, and at the same time ensure the operational safety of the subsequent calibration process by returning the upper limit of the lifting axis and the inner limit of the luffing axis.

[0124] Step 4: Multi-gear testing phase steps.

[0125] The target motion axis is tested in ascending order from gear 1 to gear 6. The test procedure for each gear is as follows: The first step is to switch the target motion axis to the current target gear (e.g., switch to gear 1 for the first round) and drive the motion mechanism of the target motion axis to run at that gear. The second step is to collect the speed data of the target motion axis in real time with a sampling period of 0.2 seconds, and determine whether the motion is stable through a stability detection algorithm. For example, calculate the rate of change of the current filtered speed value. If the rate of change is less than 1%, it is determined that the target motion axis is stable in the current gear. The third step is to continuously collect velocity data for 5 seconds after determining that the motion is stable, which will be used for subsequent average velocity calculation. Fourth step: After the 5-second data collection for the current gear is completed, switch the gear to the next gear (e.g., from 1st gear to 2nd gear), and repeat the operations from the first to the third step until all 6 gear tests are completed; If, during a test at a certain gear, the target motion axis reaches the preset soft limit, the motion mechanism is immediately stopped. After the speed drops to zero, the target motion axis is controlled to move in the opposite direction, and the speed data of the current gear is collected until the 5-second stable data collection for that gear is completed.

[0126] Step 5: Parameter Calculation Stage.

[0127] Based on the raw data collected during the multi-level testing phase, three types of calibration parameters are automatically calculated: Average speed of the target motion axis in each gear (GearVel1-GearVel6). The maximum deceleration of the target motion axis as it slows down from its maximum speed to a standstill (GearAcc0_Max). The delay time (DelayTime) for the target motion axis to switch gears from 0 to 1.

[0128] The specific calculation method is as follows: The average speed of the target motion axis in each gear is denoted as GearVel1~GearVel6, corresponding to gears 1-6 respectively. The original position data of the target motion axis is collected by the encoder with a sampling period of 0.2 seconds. After the original data is converted into actual position values, the running speed at each sampling time is obtained by calculating the position derivative. Due to the oscillation of the speed data caused by the motor running characteristics, the collected speed values ​​are filtered by a moving average with a length of 10. The filtered result is the average speed of the corresponding gear. The maximum deceleration, denoted as GearAcc0_Max, is calculated as follows: Once the target motion axis reaches gear 6 and its speed stabilizes, the gear is immediately switched to gear 0 to control the motion mechanism to decelerate until the axis's operating speed drops below a preset threshold. The threshold for linear axes such as lifting axes and luffing axes is 1 cm / s, and the threshold for rotary axes is 0.0001 rad / s. The total time taken from switching gears to gear 0 until the speed drops below the threshold is recorded. The calculated average speed at gear 6 is divided by this total time, and the result is the maximum deceleration of the target motion axis. The gear shift delay time from 0 to 1 is denoted as DelayTime: The difference between the periods of two key time nodes is calculated. The first node is the time when the gear shift command from 0 to 1 is issued, and the second node is the event when the gear actually shifts to 1 and the speed reaches a stable state. The difference between the periods of the two nodes is multiplied by the duration of a single sampling period (0.2 seconds), and the product is the gear shift delay time from 0 to 1.

[0129] Step 6: Automatic writing and termination phase steps.

[0130] After the above calibration parameters are calculated, the calibration parameters such as GearVel1-GearVel6, GearAcc0_Max, and DelayTime can be automatically written into the parameter library of the tower crane control system through the preset data interface to complete the parameter update; and a calibration report is generated. The calibration report can include the following information: the total running time of this calibration, the calibration result (success / failure); if the calibration fails, the report will return an error code, with the error code format as 0x1001, where the first digit of the code represents the faulty shaft number: 1 represents the lifting shaft, 2 represents the slewing shaft, and 3 represents the luffing shaft. The fully automatic gear speed identification calibration process of this unmanned tower crane is now complete.

[0131] This application also provides an embodiment of a fully automatic gear speed identification and calibration system for unmanned tower cranes, including: The sensing layer is used to collect position data of the tower crane's moving shaft through encoders and calculate the speed data of the moving shaft based on the position data. The control layer is used to perform zero-return operations, control the target motion axis to return to the calibration starting position, so that the starting position of each calibration is consistent and the impact of the initial position deviation on the calibration is reduced; and drive the target motion axis to move gear by gear according to the preset gear sequence. The calculation layer is used to calibrate the calibration parameters of the target motion axis based on the motion data of the target motion axis; the calibration parameters include at least one of the following: average speed at each gear, maximum deceleration, and gear shift delay time; The configuration layer is used to write calibration parameters into the parameter library of the tower crane's control system and generate calibration reports.

[0132] In this embodiment, the sensing layer's task is to collect real-time position data of the target moving shafts using high-precision encoders installed on the drive motors or drum shafts of each moving shaft of the tower crane. Specifically, the pulse signals output by the encoders are converted by the interface circuit and then processed by the processing unit of the sensing layer, converting them into absolute or relative positions expressed in physical units. The sensing layer can calculate the speed data of the target moving shaft in each cycle based on the difference in position data between two consecutive acquisition cycles, combined with the duration of the acquisition cycle. The data acquisition sampling frequency can reach the millisecond level, improving the continuity and accuracy of the data. Furthermore, the sensing layer can integrate limit sensors to monitor the equipment's operating status in real time, providing data support for safety protection.

[0133] The control layer, built on a high-performance embedded controller or programmable logic controller (PLC), is responsible for executing preset calibration logic. For example, after the calibration process begins, the control layer automatically performs a homing operation according to the calibration instructions to ensure consistent starting positions for each calibration, reducing the impact of initial position deviations on the calibration. Before calibration begins, it controls the target motion axis to return to the initial calibration position and coordinates the movement of non-target motion axes to a safe position. The control layer can also switch the motion state of the motion axes according to a gear sequence, such as gears 1 to 6, and control the motion axes to run stably for a preset time at each gear. Furthermore, the control layer can automatically trigger emergency stop protection when it detects dangerous signals such as motion axes exceeding limits or abnormal speeds, preventing accidents.

[0134] The computation layer integrates efficient data processing algorithms and parameter calculation models, enabling automatic analysis of raw motion data and extraction of key parameters. For example, the computation layer can receive raw motion data (such as position data and velocity data) from the perception layer and perform deep computation using a series of advanced algorithm models. For instance, the computation layer can identify the speed stability of the target motion axis at each gear level using algorithms such as sliding windows and threshold judgment. When the speed fluctuation at a certain gear is less than a target threshold (e.g., 0.05 m / s) and the duration reaches a stable standard (e.g., 5 seconds), the speed at that gear is considered stable. For data in a stable state, the computation layer can reduce noise using methods such as moving average filtering and calculate the average speed at each gear level. For maximum deceleration calibration, the computation layer can capture the braking process from the highest gear to 0th gear, record the initial maximum speed and the time it takes for the speed to drop to the target threshold, and calculate the maximum deceleration. For gear shift delay time, the computation layer can record the command issuance time and speed stabilization time from 0th to 1st gear and calculate the gear shift delay time. The computation layer can also incorporate filtering algorithms to eliminate sensor noise and remove outliers by comparing historical data, ensuring that the error of the calculation results is controlled within 0.5%.

[0135] The configuration layer is responsible for archiving and applying the calibration parameters output by the calculation layer. For example, the configuration layer can seamlessly interface with the parameter library (such as configuration files, databases, etc.) of the tower crane control system through a preset standard interface. After confirming that the calibration parameters are correct, the configuration layer automatically writes the calibration parameters into the corresponding fields in the parameter library, overwriting the old values, and generates log records to form a calibration report for subsequent traceability.

[0136] The fully automatic gear speed identification and calibration system for unmanned tower cranes according to this application receives calibration instructions and initializes the tower crane. The calibration instructions include the target motion axis to be calibrated in the tower crane. Initialization is used to reduce interference from the tower crane's historical operating status. When the target motion axis is in the starting position, the system controls the target motion axis to return to the calibration starting position so that the starting position of each calibration is consistent, reducing the impact of the initial position deviation on the calibration. The system drives the target motion axis to move gear by gear according to the target gear sequence, and calibrates the calibration parameters of the target motion axis based on the motion data of the target motion axis. The calibration parameters include at least one of the average speed of each gear, maximum deceleration, and gear switching delay time. The calibration parameters are written into the parameter library of the tower crane's control system, and a calibration report is generated. This embodiment of the application automatically initializes the tower crane upon receiving a calibration command. During the calibration process, the target motion axis is controlled to return to the initial calibration position, ensuring that each motion axis of the tower crane is in a preset safe and uniform initial state before calibration. This reduces the problem of difficulty in ensuring the continuity of data acquisition in traditional manual operation. By driving the target motion axis to move gear by gear according to the target gear sequence, and automatically calibrating calibration parameters such as the average speed, maximum deceleration, and gear switching delay time of each gear based on the motion data of the target motion axis, a fully unmanned closed loop from data acquisition and parameter calculation to data writing is realized. Compared with the traditional manual calibration method, the parameter calculation efficiency is improved, and the risk of safety accidents caused by human operation errors is reduced, thereby improving the accuracy, safety, and efficiency of tower crane parameter calibration.

[0137] The unmanned tower crane fully automatic gear speed identification and calibration method provided in this application embodiment can be executed by an unmanned tower crane fully automatic gear speed identification and calibration device. This application embodiment uses the unmanned tower crane fully automatic gear speed identification and calibration device executing the unmanned tower crane fully automatic gear speed identification and calibration method as an example to illustrate the unmanned tower crane fully automatic gear speed identification and calibration device provided in this application embodiment.

[0138] This application also provides a fully automatic gear speed identification and calibration device for unmanned tower cranes.

[0139] like Figure 2 As shown, the fully automatic gear speed identification and calibration device for the unmanned tower crane includes: The receiving and initialization module 210 is used to receive calibration instructions and initialize the tower crane; the calibration instructions include the target motion axis to be calibrated in the tower crane; initialization is used to reduce interference from the tower crane's historical operating status; The zero-return module 220 is used to perform zero-return operations, controlling the target motion axis to return to the starting position of the calibration, so that the starting position of each calibration is consistent and the impact of the initial position deviation on the calibration is reduced; The calibration module 230 is used to drive the target motion axis to move in the target gear sequence one gear at a time when the target motion axis is in the starting position, and to calibrate the calibration parameters of the target motion axis according to the motion data of the target motion axis; the calibration parameters include at least one of the average speed of each gear, maximum deceleration and gear shift delay time; The writing module 240 is used to write the calibration parameters into the parameter library of the tower crane's control system and generate a calibration report.

[0140] The fully automatic gear speed identification and calibration device for unmanned tower cranes according to this application receives calibration instructions and initializes the tower crane. The calibration instructions include the target motion axis to be calibrated in the tower crane. Initialization is used to reduce interference from the tower crane's historical operating status. When the target motion axis is in the starting position, the device controls the target motion axis to return to the calibration starting position so that the starting position of each calibration is consistent, reducing the impact of the initial position deviation on the calibration. The device drives the target motion axis to move gear by gear according to the target gear sequence, and calibrates the calibration parameters of the target motion axis based on the motion data of the target motion axis. The calibration parameters include at least one of the average speed of each gear, maximum deceleration, and gear switching delay time. The calibration parameters are written into the parameter library of the tower crane's control system, and a calibration report is generated. This embodiment of the application automatically initializes the tower crane upon receiving a calibration command. During the calibration process, the target motion axis is controlled to return to the initial calibration position, ensuring that each motion axis of the tower crane is in a preset safe and uniform initial state before calibration. This reduces the problem of difficulty in ensuring the continuity of data acquisition in traditional manual operation. By driving the target motion axis to move gear by gear according to the target gear sequence, and automatically calibrating calibration parameters such as the average speed, maximum deceleration, and gear switching delay time of each gear based on the motion data of the target motion axis, a fully unmanned closed loop from data acquisition and parameter calculation to data writing is realized. Compared with the traditional manual calibration method, the parameter calculation efficiency is improved, and the risk of safety accidents caused by human operation errors is reduced, thereby improving the accuracy, safety, and efficiency of tower crane parameter calibration.

[0141] In some embodiments, the receiving and initialization module 210 is further configured to: The equipment status of the tower crane is monitored, including at least one of the following: whether the tower crane is in a safe area and whether the tower crane's sensors are working properly. If the device is in normal condition, reset the historical data and read the preset parameters; the preset parameters include at least one of the following: maximum setting, stabilization time, and sampling period.

[0142] In some embodiments, the calibration module 230 is further configured to: The velocity data of the target motion axis is acquired at a preset time interval. The stability of the target motion axis speed is determined by the rate of change of speed data acquired in multiple consecutive acquisition cycles. Under the condition that the speed of the target motion axis is stable, acquire the motion data of the target motion axis within a preset time after the speed stabilizes.

[0143] In some embodiments, the calibration module 230 is further configured to: The encoder collects position data of the target motion axis at a preset time interval. The velocity data of the target motion axis is calculated based on the difference in position data between adjacent acquisition cycles and the preset duration.

[0144] In some embodiments, the calibration module 230 is further configured to: Drive the target motion axis to move in the current gear, and after the target motion axis speed stabilizes for a preset time, switch the current gear to the next gear; When the target motion axis reaches the soft limit, control the target motion axis to stop moving. After the speed data of the target motion axis is 0, drive the target motion axis to move in the opposite direction.

[0145] In some embodiments, the calibration module 230 is further configured to: When the speed of the target motion axis is stable, the position data of the target motion axis is collected by the encoder at a preset time period. The velocity data of the target motion axis is calculated based on the difference in position data between adjacent acquisition cycles and the preset duration. The moving average filter is applied to the speed data from multiple acquisition cycles to obtain the average speed of the target motion axis at the current gear.

[0146] In some embodiments, the calibration module 230 is further configured to: With the target motion axis in the maximum gear and its speed stable, switch the gear to 0 and record the maximum speed of the target motion axis in the maximum gear and the target time for the speed of the target motion axis to drop to the target threshold. Calculate the maximum deceleration of the target's motion axis based on the maximum speed and the target time.

[0147] In some embodiments, the calibration module 230 is further configured to: Get the time when the gear shift command indicating to shift from gear 0 to gear 1 is issued; Determine the settling time of the target motion axis speed when it is in gear 1. The gear shift delay time from 0 to 1 is calculated based on the issuance time and stabilization time.

[0148] In some embodiments, the zero-return module 220 is further configured to: When the target motion axis is the lifting axis, control the lifting axis to return to the starting position calibrated by the lifting axis, and prevent the luffing axis and slewing axis from moving to the negative limit; When the target motion axis is the luffing axis, control the lifting axis to move to the upper limit position, and control the luffing axis to return to the starting position calibrated by the luffing axis; When the target motion axis is a rotary axis, control the lifting axis to move to the upper limit position, control the luffing axis to move to the inner limit position, and control the rotary axis to return to the starting position calibrated by the rotary axis.

[0149] The fully automatic gear speed identification and calibration device for unmanned tower cranes in this application embodiment can be an electronic device or a component of an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices besides a terminal. For example, the electronic device can be a mobile phone, tablet computer, laptop computer, PDA, in-vehicle electronic device, mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc. It can also be a server, network attached storage (NAS), personal computer (PC), television (TV), ATM, or self-service machine, etc. This application embodiment does not specifically limit the specific device.

[0150] The fully automatic gear speed identification and calibration device for unmanned tower cranes in this application embodiment can be a device with an operating system. This operating system can be Microsoft (Windows), Android, iOS, or other possible operating systems; this application embodiment does not specifically limit it.

[0151] In some embodiments, such as Figure 3 As shown, this application embodiment also provides an electronic device 300, including a processor 301, a memory 302, and a computer program stored in the memory 302 and executable on the processor 301. When the program is executed by the processor 301, it implements the various processes of the above-described unmanned tower crane fully automatic gear speed identification and calibration method embodiment and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0152] It should be noted that the electronic devices in the embodiments of this application include the aforementioned mobile electronic devices and non-mobile electronic devices.

[0153] This application also provides a non-transitory computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes of the above-described embodiments of the fully automatic gear speed identification and calibration method for unmanned tower cranes, and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0154] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0155] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described unmanned tower crane fully automatic gear speed identification and calibration method.

[0156] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0157] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled. The processor is used to run programs or instructions to implement the various processes of the above-described embodiments of the fully automatic gear speed identification and calibration method for unmanned tower cranes, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0158] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0159] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0160] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0161] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

[0162] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0163] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A method for identifying and calibrating the speed of a fully automatic unmanned tower crane, characterized in that, include: The system receives calibration instructions and initializes the tower crane; the calibration instructions include the target motion axis to be calibrated in the tower crane; the initialization is used to reduce interference from the tower crane's historical operating status. Perform a zero-return operation to control the target motion axis to return to the calibration starting position, so that the starting position of each calibration is consistent and the impact of the initial position deviation on the calibration is reduced; With the target motion axis in the starting position, the target motion axis is driven to move gear by gear in the target gear sequence, and the calibration parameters of the target motion axis are calibrated according to the motion data of the target motion axis; the calibration parameters include at least one of the average speed of each gear, maximum deceleration, and gear shift delay time. The calibration parameters are written into the parameter library of the tower crane's control system, and a calibration report is generated.

2. The method according to claim 1, characterized in that, The initialization of the tower crane includes: Detecting the equipment status of the tower crane includes at least one of: detecting whether the tower crane is in a safe area and detecting whether the tower crane's sensors are working properly; When the device is in normal condition, reset the historical data and read the preset parameters; the preset parameters include at least one of the following: maximum setting, stabilization time, and sampling period.

3. The method according to claim 1, characterized in that, After performing the zeroing operation, the following is included: The velocity data of the target motion axis is acquired at a preset time interval. The stability of the target motion axis speed is determined based on the rate of change of the speed data acquired in multiple consecutive acquisition cycles. When the speed of the target motion axis is stable, acquire the motion data of the target motion axis within a preset time after the speed stabilizes.

4. The method according to claim 3, characterized in that, The acquisition of velocity data of the target motion axis at a preset time period includes: The position data of the target motion axis is collected by an encoder at a preset time interval; The velocity data of the target motion axis is calculated based on the difference in position data between adjacent acquisition cycles and the preset duration.

5. The method according to claim 3, characterized in that, The step of driving the target motion axis to move in sequence according to the target gear position includes: Drive the target motion axis to move in the current gear, and after the target motion axis speed stabilizes for the preset time, switch the current gear to the next gear; When the target motion axis moves to the soft limit, the target motion axis is controlled to stop moving, and after the speed data of the target motion axis is 0, the target motion axis is driven to move in the opposite direction.

6. The method according to claim 1, characterized in that, The motion data includes velocity data and position data; The step of calibrating the calibration parameters of the target motion axis based on the motion data of the target motion axis includes: When the speed of the target motion axis is stable, the position data of the target motion axis is collected by the encoder at a preset time period. The velocity data of the target motion axis is calculated based on the difference in position data between adjacent acquisition cycles and the preset duration; The moving average filter is applied to the speed data from multiple acquisition cycles to obtain the average speed of the target motion axis at the current gear.

7. The method according to claim 1, characterized in that, The step of calibrating the calibration parameters of the target motion axis based on the motion data of the target motion axis includes: When the target motion axis is in the maximum gear and the speed of the target motion axis is stable, switch the gear to 0 and record the maximum speed of the target motion axis in the maximum gear and the target time when the speed of the target motion axis drops to the target threshold. The maximum deceleration of the target motion axis is calculated based on the maximum speed and the target time.

8. The method according to claim 1, characterized in that, The step of calibrating the calibration parameters of the target motion axis based on the motion data of the target motion axis includes: Get the time when the gear shift command indicating to shift from gear 0 to gear 1 is issued; When the target motion axis is in gear 1, determine the stabilization time of the target motion axis speed. The gear shifting delay time from gear 0 to gear 1 is calculated based on the emission time and the stabilization time.

9. The method according to claim 1, characterized in that, The control of the target motion axis to return to the calibration starting position includes: When the target motion axis is the lifting axis, the lifting axis is controlled to return to the starting position calibrated by the lifting axis, and the luffing axis and slewing axis do not move to the negative limit. When the target motion axis is the luffing axis, control the lifting axis to move to the upper limit position, and control the luffing axis to return to the starting position calibrated by the luffing axis; When the target motion axis is the slewing axis, control the lifting axis to move to the upper limit position, control the luffing axis to move to the inner limit position, and control the slewing axis to return to the starting position calibrated by the slewing axis.

10. A fully automatic gear speed identification and calibration device for an unmanned tower crane, characterized in that, include: A receiving and initialization module is used to receive calibration instructions and initialize the tower crane; the calibration instructions include the target motion axis to be calibrated in the tower crane; The initialization is used to reduce interference from the historical operating status of the tower crane; The zero-return module is used to perform zero-return operations, controlling the target motion axis to return to the calibration starting position, so that the starting position of each calibration is consistent and the impact of the initial position deviation on the calibration is reduced; A calibration module is used to drive the target motion axis to move in a target gear sequence one gear at a time when the target motion axis is in the starting position, and to calibrate the calibration parameters of the target motion axis according to the motion data of the target motion axis; the calibration parameters include at least one of the average speed of each gear, maximum deceleration, and gear shift delay time; The writing module is used to write the calibration parameters into the parameter library of the control system of the tower crane and generate a calibration report.

11. A fully automatic gear speed identification and calibration system for unmanned tower cranes, characterized in that, include: The sensing layer is used to collect position data of the tower crane's moving shaft through an encoder and calculate the speed data of the moving shaft based on the position data. The control layer is used to perform zero-return operation, control the target motion axis to return to the calibration starting position, so that the starting position of each calibration is consistent and the influence of the initial position deviation on the calibration is reduced; and drive the target motion axis to move gear by gear according to the preset gear sequence. The calculation layer is used to calibrate the calibration parameters of the target motion axis based on the motion data of the target motion axis; the calibration parameters include at least one of the average speed of each gear, maximum deceleration, and gear shift delay time. The configuration layer is used to write the calibration parameters into the parameter library of the tower crane's control system and generate a calibration report.

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