Intelligent multi-point hoisting adjusting disc and posture correction method

Abstract

The invention relates to the technical field of lifting equipment, and provides an intelligent multi-point lifting adjusting disc and a posture correction method, the intelligent multi-point lifting adjusting disc comprises a structure body, and a main lifting hook, a plurality of lifting assemblies, a battery pack and an intelligent control module which are arranged on the structure body; the hoisting assembly comprises a winch, a hoisting rope and a driving unit; a branch lifting hook is hung at the tail end of the lifting rope to serve as a lifting point, and is provided with a tension sensor; the intelligent control module collects load attitude and suspension point tension data in real time, and the load attitude is adjusted in real time through a self-adaptive sliding mode control algorithm. Through automatic accurate leveling, real-time dynamic anti-swing control, a self-adaptive sliding mode control algorithm and a redundant electromagnetic brake protection mechanism, the safety, efficiency and precision of hoisting operation are remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of hoisting equipment, and particularly relates to an intelligent multi-point hoisting adjusting disc and a posture correction method. BACKGROUND

[0002] With the development of modern engineering construction towards large-span, large-area and modularization, multi-point synchronous hoisting technology is widely used in the installation and construction of stadium roof, bridge components, large equipment modules and the like. In the traditional multi-point hoisting operation, the length adjustment of each hoisting point is mostly dependent on manual judgment and operation, which is tedious and inefficient, and is prone to load deviation or posture instability due to errors, affecting the construction safety and precision.

[0003] In addition, in the process of hoisting the load into the air, the structure is often subject to lateral or longitudinal swinging due to inertia, wind load or inconsistent ropes, and the existing equipment generally lacks effective anti-swing mechanism, which can easily lead to component shaking or even collision, and there are serious safety hazards.

[0004] In terms of control system, the traditional hoisting equipment lacks real-time feedback mechanism, lacks detection and control means for posture, stress, inclination and the like, and cannot realize closed-loop control; most of the equipment also lacks emergency braking function in the case of power failure, and there is a risk of falling of the hoisted load, and the safety protection capability is insufficient.

[0005] At the same time, the multi-point hoisting devices on the market are generally not highly integrated, bulky, complex to install, and weak in remote control capability, and cannot meet the needs of complex sites, narrow spaces or high-precision construction.

[0006] Therefore, there is an urgent need for a multi-point hoisting system that is compact in structure, accurate in control, safe and intelligent, can realize automatic load leveling, dynamic anti-swing suppression and power failure protection on the basis of multi-point independent control, and has convenient remote control and man-machine interaction capability, to meet the multiple requirements of hoisting efficiency, safety and intelligence in modern complex construction scenarios. SUMMARY

[0007] In view of the deficiencies of the prior art, the present application provides an intelligent multi-point hoisting adjusting disc, which realizes accurate control of load posture, automatic leveling, anti-swing control, redundant safety protection and remote intelligent operation through a technical solution of structural integration, intelligent control and safety redundancy, and solves at least one of the problems of low leveling efficiency, weak anti-swing capability, power failure safety hazard, backward control method and single operation and interaction mode of the traditional multi-point hoisting technology.

[0008] To achieve the above object, the present application provides the following technical solutions: In a first aspect, the present application provides a kind of intelligent multi-point lifting adjustment disc, comprising: structure body and the main lifting hook, a plurality of hoisting components, battery pack and intelligent control module arranged on the structure body; Each hoisting component includes a winch, a lifting rope wound on the winch, and a drive unit for driving the winch to rotate; the end of the lifting rope suspends a sub-lifting hook as the lifting point of each hoisting component, and a tension sensor is arranged at the connection node of the lifting rope and the sub-lifting hook; The intelligent control module integrates an inertial measurement unit and a motion controller; the intelligent control module is used to calculate the required rope length adjustment amount of other lifting points according to the target rope length value of any lifting point, combine the coordinate position of each lifting point, the inclination angle of the current load detected by the inertial measurement unit in real time and the data fed back by the tension sensor, and send driving instructions to the corresponding hoisting component to realize the initial automatic leveling of the load; the inertial measurement unit is also used to detect the trend and amplitude change of load swing in real time, and the tension sensor is used to feed back the tension fluctuation of each lifting point in real time; the intelligent control module actively intervenes in the operation of each hoisting component through the adaptive sliding mode control algorithm to suppress the load swing.

[0009] Further, the structure body includes a lower structure, and the bottom of the lower structure is provided with a plurality of lifting rope guide tapered grooves with large upper diameters and small lower diameters, and the end of the lifting rope is guided out of the lifting rope guide tapered grooves.

[0010] The conical guide groove structure is adopted for the lifting rope guide to make the lifting rope naturally vertical after being guided out at multiple angles and reduce wear and tear.

[0011] Further, an electromagnetic brake is installed at the outlet of the lifting rope guide tapered groove, and the lifting rope is connected with the tension sensor after passing through the electromagnetic brake.

[0012] When the power supply is abnormal or an emergency stop signal is received, the electromagnetic brake is immediately closed to prevent the further sliding of the lifting rope by radially clamping the lifting rope, thereby achieving effective braking.

[0013] Further, the structure body further includes an upper structure arranged at the upper end of the lower structure; the main lifting hook is arranged at the top of the upper structure; a plurality of hoisting components are distributed around the main lifting hook, and the intelligent control module is arranged inside the upper structure.

[0014] Further, the structure body further includes a middle structure; the middle structure is arranged between the upper structure and the lower structure; the middle structure is provided with a battery pack mounting groove and a plurality of heat dissipation holes distributed around the battery pack mounting groove; and the battery pack is mounted in the battery pack mounting groove.

[0015] Further, the driving unit comprises a servo motor and a speed reducer connected with an output shaft of the servo motor; the speed reducer is connected with the winch.

[0016] Further, the structure body further comprises foldable outrigger legs arranged at the bottom of the lower structure body.

[0017] In a second aspect, the present application further provides a hoisting posture correction method of a multi-lifting-point lifting appliance, wherein the multi-lifting-point lifting appliance adopts the intelligent multi-point hoisting adjusting disc; the method comprises the following steps: Initial leveling: based on the target rope length value of any lifting point, in combination with the coordinate positions of the lifting points and the real-time detection of the inclination and tension data of the current load, the rope length adjustment value required by other lifting points is calculated through an adaptive sliding mode control algorithm, and a control instruction is issued to the corresponding hoisting assembly to realize initial leveling of the load; Dynamic control during hoisting: when the load swings, the trend and amplitude change of the load swing are detected in real time, in combination with the tension fluctuation of each lifting point, the adaptive sliding mode control algorithm is used to actively intervene in the operation of each hoisting assembly to realize load swing suppression.

[0018] Further, the initial leveling step comprises: Calculating the rope length adjustment value according to the inclination and the geometric model ;

[0019] Wherein: , is the inclination of the current load measured by the inertial measurement unit in real time; P n is the position of the lifting point n in the structure body coordinate system; Define the sliding mode control surface:

[0020] Wherein: s i is the sliding mode surface variable; is the angle error of the current lifting point; is the attitude error change rate; is a preset coefficient; Control law output:

[0021] Wherein: is the output control instruction to the nth hoisting assembly; , , is a preset gain parameter; is a sign function, which is used to determine the compensation direction.

[0022] Further, the step of dynamic control of the hoisting process comprises: When the load shows a swing trend, in addition to the rope length adjustment value obtained by performing the leveling calculation , a dynamic compensation value is calculated according to the attitude angular velocity:

[0023] wherein, is a swing compensation coefficient, is the angular velocity measured by the inertial measurement unit in real time; The anti-swing control output is calculated: (i=1, 2…n)

[0024] wherein, is the output compensation torque of the driving unit of the i th hoisting assembly; is the swing angle error in the i th direction; is the change rate of the swing angle error; is a proportional gain coefficient; is a differential gain coefficient; is a sliding mode gain coefficient; is a sign function, indicating the correction direction.

[0025] Further, the step of dynamic control of the hoisting process comprises: The inertial measurement unit detects the load attitude angle and angular velocity, and the intelligent control module calculates the swing amplitude and compares it with the preset swing angle threshold to determine the swing amplitude; when the swing amplitude shows a continuously increasing trend in multiple sampling periods, it is determined that the swing is intensifying; the tension sensor collects the tension data of each lifting point in real time, calculates the tension standard deviation of each lifting point, and if the tension standard deviation is greater than the preset safety threshold of the tension standard deviation and the tension change direction of the lifting point is consistent, the swing has been coupled to the overall load; the intelligent control module triggers the dynamic anti-swing control strategy to compensate and adjust the related lifting points, and generates a reverse torque to suppress the swing.

[0026] The beneficial effects of this invention are as follows: Multiple lifting components with independent drive units and tension sensors integrated into the sub-hooks provide real-time feedback on the force state of each lifting point. The adaptive sliding mode control algorithm dynamically calculates the rope length adjustment for the remaining lifting points based on the user-defined target rope length for each lifting point, combined with the coordinate positions of each lifting point, the inertial measurement unit (IMU) real-time detection of the current load's tilt angle, and the data fed back from the tension sensors. This achieves rapid overall leveling of the load without tilting or rotation. Compared to traditional manual leveling, accuracy is improved by over 90%, and leveling time is reduced to the second level. Utilizing the IMU to detect the trend and amplitude changes of load swaying (load sway angular velocity) in real time and the tension fluctuations at each lifting point in real-time feedback from the tension sensors, a motor compensation torque is generated through the sliding mode control surface to actively adjust the winch speed. This generates a reverse restoring force before the load reaches resonance, suppressing lateral / longitudinal swaying of the load, reducing the sway amplitude by 70%, and avoiding the risk of component collisions. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of the intelligent multi-point hoisting adjustment plate of the present invention; Figure 2 for Figure 1 Exploded view; Figure 3 This is a structural schematic diagram of the hoisting assembly, battery pack, and intelligent control module of the present invention; Figure 4 This is a three-dimensional structural diagram of the upper structure of the present invention; Figure 5 for Figure 4 A structural diagram viewed from below; Figure 6 This is a schematic diagram of the structure of the top cover plate of the present invention; Figure 7 This is a three-dimensional structural diagram of the central structure of the present invention; Figure 8 for Figure 7 A structural diagram viewed from below; Figure 9 This is a three-dimensional structural diagram of the lower structure of the present invention; Figure 10 This is a schematic diagram of the connection between the drive unit and the winch of the present invention; Figure 11 This is a schematic diagram of the electromagnetic brake of the present invention; Figure 12 This is a schematic diagram of the tension sensor of the present invention; Figure 13 This is a schematic diagram showing the folding and unfolding of the foldable tripod legs of the present invention; Figure 14 This is a schematic diagram of the structure of the foldable legs of the intelligent multi-point hoisting adjustment plate of the present invention after they are unfolded.

[0028] In the diagram: 1-Upper structure, 101-Top cover plate, 102-Main hook, 103-Control module mounting slot, 104-Upper heat dissipation hole, 105-Servo motor mounting slot, 106-Windlock mounting hole; 2-Middle structure, 201-Battery pack mounting slot, 202-Middle heat dissipation hole; 3-Intelligent control module; 4-Battery pack; 5-Servo motor, 501-Reducer; 6-Windlock, 601-Lifting rope; 7-Lower structure, 701-Lifting rope guide cone groove; 8-Sub-hook, 801-Tension sensor, 802-Hook, 803-Electromagnetic brake; 9-Staff legs. Detailed Implementation

[0029] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] like Figures 1 to 14 The intelligent multi-point hoisting adjustment panel shown, also known as the device, consists of an upper structure 1, a middle structure 2, and a lower structure 7. It integrates a main hook 102, six sub-hooks 8, a servo motor 5, a planetary reducer 501, a winch 6, an intelligent control module 3, a lithium iron phosphate battery pack 4, a hoisting rope 601, a hoisting rope guide cone groove 701, an electromagnetic brake 803, a tension sensor 801, and outrigger legs 9. The components are connected by flanges and bolts. The overall structure is compact and has a mobile remote control operation interface.

[0031] Upper Structure 1: A main hook 102 is located at the center of the top of the upper structure 1 for connecting external lifting equipment and bearing the overall load. Internally, it houses a drive unit consisting of six Siemens 1FT7 servo motors 5 and Newcatel planetary reducers 501, which independently wind and release UHMWPE high-strength fiber lifting ropes 601 via winches 6. The intelligent control module 3 is built into the control module mounting slot 103. (The text abruptly ends here.) Figure 4 , Figure 5 As shown, the upper structure 1 has six upper heat dissipation holes 104 evenly arranged around the main hook 102. The side walls of these upper heat dissipation holes 104 also have winch mounting holes 106. The shaft end of the winch 6 is installed in the winch mounting hole 106, and the winch 6 is located within the upper heat dissipation hole 104. A top cover plate 101 is also provided at the top of the upper structure 1 corresponding to the six winch mounting holes 106. The top cover plate 101 is removable for routine maintenance. Figure 5 As shown, the bottom of the upper structure 1 is also provided with a servo motor mounting slot 105 on one side of each upper heat dissipation hole 104 for mounting the servo motor 5.

[0032] The middle structure 2 is provided with a special battery pack mounting groove 201 for mounting the BYD lithium iron phosphate battery pack 4 to provide stable power supply, and a middle heat dissipation hole 202 is arranged around to ensure good heat dissipation performance during operation. At the same time, the middle heat dissipation hole 202 also provides space for the passing of the hoisting rope 601.

[0033] The lower structure 7 can be a bottom plate structure, which is provided with a hoisting rope guide cone groove 701 at the bottom. The hoisting rope 601 (or rope) is guided out through the hoisting rope guide cone groove 701 to avoid severe wear. An electromagnetic brake 803 is mounted at the lower end outlet of the hoisting rope guide cone groove 701. The electromagnetic brake 803 adopts a radial clamping mode and is provided with a multi-surface clamping pad and a double-sided friction plate, and is suitable for a hoisting rope 601 with a diameter of φ8-12 mm. After passing through the electromagnetic brake 803, the hoisting rope 601 is connected with a tension sensor 801, which is integrated in the sub-hoisting hook 8 and is used for real-time monitoring of the load stress at the hoisting point.

[0034] The foot support 9 is arranged at the bottom of the lower structure 7 and can be folded. The foot support 9 can be adjusted to be unfolded or folded according to the construction or idle state, so as to ensure stable placement and storage of the equipment.

[0035] The intelligent multi-point hoisting adjustment disc includes an intelligent control module 3, a remote monitoring system and a mobile terminal operation interface.

[0036] The intelligent control module 3 integrates a MEMS inertial measurement unit (IMU), a motion controller, a power management system and a wireless communication module (Wi-Fi and Bluetooth), and can collect load attitude and hoisting point tension data in real time, and adjust the load attitude in real time through an adaptive sliding mode control algorithm.

[0037] The control data transmission path is: mobile terminal operation interface←→wireless communication module←→intelligent control module←(IMU+tension data)→winch servo motor execution.

[0038] The remote monitoring system (data recording and relay) stores historical data, records operation logs, and communicates with the mobile terminal and the intelligent control module 3 bidirectionally. The mobile terminal operation interface (user interaction) has functions of real-time monitoring, path presetting, rope length setting, 3D simulation view and the like.

[0039] Based on the same inventive concept, the present application also provides a hoisting attitude correction method of a multi-hoisting point hoist, which adopts the above-mentioned intelligent multi-point hoisting adjustment disc. The method comprises the following steps: Initial leveling: Based on the target rope length value of any lifting point, combined with the coordinate position of each lifting point and the real-time detection of the inclination and tension data of the current load, the required rope length adjustment value of other lifting points is calculated through the adaptive sliding mode control algorithm, and control instructions are issued to the corresponding lifting assembly to realize the initial leveling of the load; Dynamic control during lifting process: When the load swings, the trend and amplitude change of the load swing are detected in real time, combined with the tension fluctuation of each lifting point, the adaptive sliding mode control algorithm is used to actively intervene in the operation of each lifting assembly to realize the suppression of load swing.

[0040] Power failure and emergency protection stage: When power failure or abnormality occurs, the electromagnetic brake is automatically started to clamp the lifting rope to prevent the load from falling. The super capacitor provides emergency power for the brake, and the sound and light alarm system is linked to remind the on-site operator to intervene quickly.

[0041] Remote interaction and human-computer operation stage: The mobile terminal operation interface monitors the load state in real time, and sends rope length adjustment instructions, path setting, emergency stop instructions, etc. to the intelligent control module 3 to realize remote monitoring and precise control.

[0042] The control logic of the method is as follows: By setting the target rope length value of any lifting point on the mobile terminal, the real-time collected IMU inclination data, lifting point coordinates and tension data are used to calculate the required rope length adjustment value of other lifting points, and the corresponding winch is driven to adjust synchronously or asynchronously to realize automatic leveling of the load.

[0043] The intelligent control module automatically establishes the error model between the current attitude of the load and the target horizontal plane based on the target rope length value of any lifting hook input by the user, combined with the real-time collected IMU attitude data and the feedback results of the tension sensors of each lifting point. The sliding mode control algorithm is used to calculate the rope length increment required by the remaining five lifting points , and independent driving instructions are issued to the corresponding winch to complete the rapid overall leveling of the load without tilting and rotating.

[0044]

[0045] Among them, represents the vertical height compensation of the nth lifting point, also known as the rope length adjustment value or the rope length adjustment amount, when the lifting rope approaches the vertical state, it can be approximately considered that ≈ .

[0046] The attitude angle measured by the IMU ( , ), can be used to calculate the combined inclination of the lifting rope relative to the vertical direction :

[0047] According to the user-defined first The rope length at each suspension point For reference, the IMU measures the current load tilt angle. (X-axis) and (Y-axis) Combining the geometric center of the device with the spatial coordinates of each suspension point, the vertical offset that other suspension points need to be compensated for is calculated. Converted into rope length adjustment amount :

[0048] in: The tilt angle was measured for the IMU; Let n be the position of the lifting point n in the structural coordinate system; The nth rope length adjustment value is calculated by the intelligent control module, which then instructs the corresponding winch to perform rope winding / unwinding operations. All adjustments were completed synchronously while maintaining load balance.

[0049] The intelligent control module adopts an adaptive sliding mode control (ASMC) strategy to cope with problems such as frequent load swings and large changes in model parameters under complex construction environments. Its control process is as follows: 1. Users can set the target rope length for a specific suspension point via their mobile devices. .

[0050] It is the "target rope length at the i-th suspension point" set by the user via the mobile device. It is an input value and serves as the calculation benchmark.

[0051] It is the current actual rope length at the i-th suspension point. It is a state quantity that is acquired in real time by a sensor or encoder.

[0052] The final target rope length is:

[0053] 2. Real-time data acquisition by the intelligent control module: Current load tilt angle (measured by IMU): , Real-time tension values ​​at each lifting point (Measured by tension sensor); coordinates of each suspension point (Preset known). Since each suspension point is fixed on the bottom plane of the device, the z-coordinate is constant in the static state. Therefore, only the x and y coordinates are needed to determine the position of the suspension point relative to the center of the device.

[0054] 3. Calculate the rope length adjustment based on the inclination angle and geometric model. :

[0055] in: , Real-time attitude angle measured by IMU (known, measured in real time); The coordinates of the lifting point relative to the center of the device are known and preset. : Rope length adjustment value (obtained through calculation).

[0056] Calculation example: (1) Assumptions: There are 6 lifting points, distributed on the circumference, with the center of the device being the origin of the coordinate system.

[0057] The locations of the lifting points are as follows: P1(1.5,0)m; P2(0.75,1.3)m; P3( 0.75, 1.3)m; P4( 1.5,0)m; P5 0.75, 1.3)m; P6(0.75, 1.3)m.

[0058] Attitude angles measured by the IMU: α = 3° (around the y-axis), β = 2° (around the x-axis).

[0059] (2) Calculation steps: Calculate the change in vertical height of each suspension point after tilting. :

[0060] For example, P1(1.5,0):

[0061] For example, P2(0.75, 1.3):

[0062] Calculate rope length adjustment amount When the suspension rope is close to vertical, cos(θ)≈1, so we can approximate ΔLn≈ΔZn.

[0063]

[0064]

[0065] Note: Positive values ​​indicate that the rope needs to be extended at the lifting point; negative values ​​indicate that the rope needs to be shortened at the lifting point.

[0066] 4. Define the sliding mode control surface:

[0067] in: : The angle error of the current lifting point (target attitude - current attitude); : Attitude error change rate (real-time calculation); : Preset coefficients for the control system (empirical parameters, known by default). .

[0068] 5. Control law output:

[0069] in: : Output of the control command for the nth winch servo motor (calculated value); , , : Controller preset gain parameters (empirical preset) , , ; : Symbolic function, determines the direction of compensation (logical calculation value).

[0070] Dynamic anti-sway control function control logic: The system detects the trend of load attitude change (angular velocity) and uses tension change data to actively intervene in real time using a feedforward + feedback hybrid control to prevent the load sway from amplifying or entering a resonance state.

[0071] 1. Testing phase: IMU acquires attitude angles ( , and angular velocity ; Tension sensors detect changes in tension at the suspension points. .

[0072] 2. Trend Judgment and Oscillation Identification: Determine if there is a periodic increase in amplitude (small oscillation → large oscillation); combine with the tension change pattern to identify whether the oscillation has been coupled to the overall load.

[0073] Methods for judging the amplitude of oscillation: Attitude angular velocity obtained through IMU and posture angle Determine the amplitude of the swing: ,like If so, it is judged as a large swing; in This refers to the swing amplitude (or attitude angle amplitude). Set a preset swing angle threshold (e.g., 2°).

[0074] When determining a trend, calculate whether the amplitude increases over a consecutive number of sampling periods:

[0075] like If the increase continues across multiple cycles, it is determined to be an intensified oscillation. Tension change pattern judgment: Calculate the standard deviation of the tension at each suspension point. :

[0076] tension standard deviation Preset safety threshold relative to the standard deviation of tension If a comparison is made, If the tension fluctuations at each suspension point exhibit the same trend, it indicates that the oscillation has been coupled to the overall load. Identify whether it is an overall oscillation: The following condition is met to determine overall load oscillation: attitude angle amplitude. ; tension standard deviation The tension changes in all six suspension points are in the same direction.

[0077] 3. Control strategy generation: For lateral swing (Y direction): Increase the rope length of one suspension point (reduce tension) and decrease the rope length of the other side (increase tension), generating a lateral reverse torque.

[0078] For the longitudinal swing (X direction): Similarly, adjust the tension and height of the front and rear suspension points to control the forward and backward pitch correction of the load.

[0079] (1) Define the oscillation in the x and y directions: Define the coordinate system: x-direction: front-to-back direction of the load (parallel to the longitudinal direction of the equipment); Y-direction: The left and right direction of the load (parallel to the horizontal direction of the equipment).

[0080] Basis for judgment: If the pitch angle output by the IMU changes significantly (α changes a lot), it is considered to be a swing in the x-direction. If the roll angle output by the IMU changes significantly (β changes significantly), it is considered to be a swing in the y-direction.

[0081] (2) Calculation of the increase or decrease in the amount of the hoisting rope: Based on the calculations of the lifting points above This yields the basic leveling adjustment amount; in anti-sway control, an additional dynamic correction amount (also known as dynamic compensation amount) is added; the formula for calculating the dynamic compensation amount of the suspension rope is:

[0082] in: The oscillation compensation coefficient (typical value 0.01~0.05 m·s / °); The angular velocity (° / s) is measured in real time by the inertial measurement unit.

[0083] When the oscillation occurs in the y-direction (with a significant change in roll angle), a lateral restoring torque is generated by increasing the left and decreasing the right suspension points. When the swing occurs in the x-direction (with a significant change in pitch angle), a longitudinal restoring torque is generated by increasing the front and decreasing the rear suspension points.

[0084] This dynamic correction is a real-time compensation superimposed on the basic leveling result, used to improve the anti-sway control effect.

[0085] Since the winch output controls the change in rope length, the system's control strategy is based on position control, rather than directly distributing torque according to the load weight.

[0086] The load weight has been fed back to the control system via the tension sensor, and the anti-sway adjustment amount is calculated as a fine-tuning compensation based on the leveling.

[0087] The front The calculation addresses the overall leveling; however, the addition or reduction of the suspension rope length here is to generate a reverse torque to suppress the swing during the swing, which is an additional dynamic correction.

[0088] 4. Speed ​​adjustment formula (simplified form):

[0089] in: : Real-time rotational speed of the nth group of winches; Steady-state maintenance speed; : Current attitude angle (i∈{x,y}); Angular velocity; : Swayback gain coefficient (adaptively adjusted by the system); : Symbolic function used to generate reverse drive.

[0090] Algorithm flow: IMU acquires real-time angular velocity of oscillation attitude. Tension sensors detect real-time tension changes. Identify possible oscillation types based on attitude angular velocity trends.

[0091] Calculate the anti-sway control output:

[0092]

[0093] In this control formula, the proportional term Primarily used to respond to swing amplitude error, differential term Introducing system damping to suppress rapid swaying, sliding mode term This system is designed to suppress oscillations and enhance the system's robust response to error directions. The controller processes the IMU's output angle and angular velocity data in real time, and dynamically outputs the required motor compensation torque commands for the six lifting points based on the error model. This, in turn, adjusts the winch operation, achieving dynamic anti-sway suppression of the load's posture.

[0094] Electromagnetic brake power-off protection function: The electromagnetic brake is fixed to the conical groove outlet of the lower structure by flange bolts. The clamping assembly of the electromagnetic brake adopts radial clamping, with internal rope limiting grooves and multi-faceted clamping pads, and a double-sided friction plate structure, suitable for high-strength fiber ropes with a diameter of 8-12mm. The energized release mechanism is driven by electromagnetic force, allowing the rope to move freely; in the event of power failure or emergency stop, the built-in disc spring closes quickly, instantly locking the rope; the equipped supercapacitor provides emergency power for ≥30 seconds and triggers an audible and visual alarm.

[0095] The mobile control interface has the following functional modules and their implementation methods: Status display area: Real-time display of IMU tilt angle, six-point tension sensor data, battery level, fault codes, and current system operating status collected by the intelligent control module. Data is uploaded to the mobile device with low latency via Bluetooth / Wi-Fi interface.

[0096] Operation Mode Area: The operation panel offers five control modes: automatic leveling, manual fine-tuning, preset path, single-point setting, and emergency stop. Users can click the icon to enter the corresponding mode, and the system interface will adjust the display parameters and input interaction methods according to the selected mode.

[0097] Rope Length Input and Adjustment Area: This area includes a numerical input box and a slider component, supporting individual or coordinated adjustment of the six suspension points. The system automatically identifies the valid input range and displays the expected load attitude change in the status area.

[0098] Preset path function description: Users can input multiple continuous attitude parameter groups (such as target tilt angle, lifting point tension distribution, or rope length segmentation instructions) on the mobile device and set the execution sequence. The system will automatically save the path as a task group and push control instructions frame by frame according to the timestamp during execution, which is suitable for delicate lifting processes (such as displacement gradual lifting, smooth attitude transformation, etc.). Preset paths support storage and recall functions and can be set by on-site engineers or distributed by remote technical teams.

[0099] 3D Lifting Simulation View: This view is a real-time dynamic software simulation interface built based on the structural design model. It uses a pre-built 3D model and overlays rope length and attitude data in real time to drive the simulation animation (non-site scanning). The load model, rope tension shape, lifting point position and attitude angle are dynamically updated. Users can zoom in, rotate, and view from a perspective to facilitate observation of the synchronicity of operation and load status of each lifting point.

[0100] Historical Data and Fault Inquiry: The system records all lifting operation times, tension change curves, IMU attitude trajectories, and fault alarm events. Users can filter by time to trace back any historical operation status and export the data as CSV or PDF format.

[0101] Emergency control area: Equipped with a one-button emergency stop button. When triggered, the control module immediately stops all winch outputs and activates the electromagnetic brake. At the same time, an alarm prompt and audible and visual operation suggestions will pop up on the mobile interface.

[0102] This invention significantly improves the safety, efficiency, and precision of hoisting operations through automatic precise leveling, real-time dynamic anti-sway control, adaptive sliding mode control algorithms, and redundant electromagnetic braking protection mechanisms. The system integrates Wi-Fi and Bluetooth remote control functions, supports multi-mode operation and real-time 3D simulation interaction, facilitating efficient remote management by operators. The device is compact, easy to maintain, and suitable for complex engineering hoisting scenarios such as large stadium roofs, bridge components, and equipment modules, demonstrating significant engineering application value and market potential.

[0103] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. An intelligent multi-point hoisting adjustment panel, characterized in that, include: The main structure, along with the main hook, multiple lifting components, battery pack, and intelligent control module mounted on the main structure; Each of the lifting components includes a winch, a lifting rope wound around the winch, and a drive unit for driving the winch to rotate; a split hook is suspended at the end of the lifting rope as a lifting point for each of the lifting components, and a tension sensor is provided at the connection node between the split hook and the lifting rope; The intelligent control module integrates an inertial measurement unit and a motion controller. Based on the target rope length at any lifting point, combined with the coordinates of each lifting point, the inertial measurement unit's real-time detection of the current load's tilt angle, and data from the tension sensor, the intelligent control module calculates the required rope length adjustment for other lifting points using an adaptive sliding mode control algorithm. It then sends drive commands to the corresponding lifting components to achieve initial automatic load leveling. The inertial measurement unit also detects the trend and amplitude changes of load swaying in real time, and the tension sensor provides real-time feedback on tension fluctuations at each lifting point. The intelligent control module actively intervenes in the operation of each lifting component through the adaptive sliding mode control algorithm to suppress load swaying.

2. The intelligent multi-point hoisting adjustment panel according to claim 1, characterized in that, The structure includes a lower structure, and the bottom of the lower structure is provided with multiple rope guide cone grooves with a large upper port diameter and a small lower port diameter, and the end of the rope is led out from the rope guide cone groove.

3. The intelligent multi-point hoisting adjustment panel according to claim 2, characterized in that, An electromagnetic brake is installed at the outlet of the guide cone groove of the suspension rope, and the tension sensor is connected after the suspension rope passes through the electromagnetic brake.

4. The intelligent multi-point hoisting adjustment panel according to claim 2, characterized in that, The main structure also includes an upper structure disposed at the upper end of the lower structure; the main hook is disposed at the top of the upper structure; a plurality of lifting components are distributed around the main hook; and the intelligent control module is disposed inside the upper structure.

5. The intelligent multi-point hoisting adjustment panel according to claim 4, characterized in that, The main body of the structure also includes a middle structure; the middle structure is disposed between the upper structure and the lower structure; the middle structure is provided with a battery pack mounting slot and heat dissipation holes distributed around the battery pack mounting slot; the battery pack is installed in the battery pack mounting slot.

6. The intelligent multi-point hoisting adjustment panel according to claim 1, characterized in that, The drive unit includes a servo motor and a reducer connected to the output shaft of the servo motor; the reducer is connected to the winch.

7. A method for correcting the lifting posture of a multi-point lifting device, characterized in that, The multi-point lifting device employs the intelligent multi-point lifting adjustment panel as described in claim 1; the method includes the following steps: Initial leveling: Based on the target rope length value of any lifting point, combined with the coordinate position of each lifting point and the real-time detection of the tilt angle and tension data of the current load, the required rope length adjustment value of other lifting points is calculated through an adaptive sliding mode control algorithm, and control commands are sent to the corresponding lifting components to achieve initial load leveling; Dynamic control during hoisting: When the load swings, the trend and amplitude of the load swing are detected in real time. Combined with the tension fluctuations at each hoisting point, the operation of each hoisting component is actively intervened through an adaptive sliding mode control algorithm to suppress load swing.

8. The method for correcting the lifting posture of a multi-point lifting device according to claim 7, characterized in that, The initial leveling steps include: Calculate the rope length adjustment value based on the inclination angle and geometric model. : ； in: , The tilt angle of the current load, measured in real time by the inertial measurement unit; P n Let n be the position of the lifting point n in the structural coordinate system; Define the sliding mode control surface: ； Where: s i For sliding surface variables; This represents the angular error of the current lifting point; The rate of change of attitude error; These are preset coefficients; Control law output: ； in: This refers to the control commands output to the nth hoisting component; , , The preset gain parameter; This is a sign function used to determine the compensation direction.

9. The lifting posture correction method for multi-point lifting devices according to claim 7, characterized in that, The steps for dynamic control of the hoisting process include: When the load shows a swaying tendency, in addition to the rope length adjustment value obtained from the leveling calculation, In addition, dynamic compensation is calculated based on attitude angular velocity: ； in, The oscillation compensation coefficient is... The angular velocity is measured in real time by the inertial measurement unit. Calculate the anti-sway control output: (i=1,2……n); in, Output compensation torque to the drive unit of the i-th hoisting component; Let be the swing angle error in the i-th direction; This represents the rate of change of the swing angle error; This is the proportional gain coefficient; The differential gain coefficient; This is the sliding mode gain coefficient; for The sign function indicates the direction of correction.

10. The lifting posture correction method for a multi-point lifting device according to claim 9, characterized in that, The steps for dynamic control of the hoisting process include: The inertial measurement unit detects the load's attitude angle and angular velocity, and the intelligent control module calculates the swing amplitude. and with preset swing angle threshold Compare and determine the oscillation amplitude; when the oscillation amplitude is within multiple sampling periods When the sway is continuously increasing, it is determined that the sway is intensifying; the tension sensor collects the tension data of each suspension point in real time and calculates the tension standard deviation of each suspension point. If the tension standard deviation is greater than the preset safety threshold of the tension standard deviation and the tension change direction of the suspension points is consistent, then the sway has been coupled to the overall load; the intelligent control module triggers the dynamic anti-sway control strategy to compensate and adjust the relevant suspension points and generate a reverse torque to suppress the sway.

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