Crane high-altitude tower material assembly accurate in-place control method and system

Abstract

The invention discloses a precise in-place control method and system for crane high-altitude tower material assembly. The method comprises the following steps: acquiring an operation condition of a preset crane according to a target operation scheme, matching a condition control parameter, performing state detection on the preset crane, performing abnormality correction according to a detection result, and collecting basic feature data of the target operation scheme, including tower material state feature data, hoisting feature data and environment feature data, processing according to the tower material state feature data, the hoisting feature data and the environment feature data to obtain attitude adjustment control parameters, executing tower material attitude adjustment according to the attitude adjustment control parameters, extracting attitude parameter deviation values in the attitude adjustment process, and performing parameter correction and pre-alignment state confirmation according to the deviation values. If it is confirmed that pre-alignment of the tower materials is completed, a precise butt joint mode is started, butt joint deviation parameters are collected, in-place confirmation and butt joint deviation correction are executed, and therefore the technology of precise in-place control over high-altitude tower material assembly of the crane is achieved.

Description

Technical Field

[0001] This invention belongs to the field of engineering machinery control technology, specifically relating to a method and system for precise positioning control of crane tower assembly at high altitudes. Background Technology

[0002] In high-altitude tower assembly operations using cranes, the tower materials are prone to swaying due to their own structure, hoisting traction, and external environmental influences. Furthermore, the coupling of in-plane and out-of-plane motions leads to low attitude control accuracy and large docking deviations. Existing technologies often employ lumped mass modeling, combined with PID and fuzzy control to achieve anti-swaying and positioning. However, these technologies lack sufficient accuracy in fusing multi-source state information, fail to adequately consider factors such as elastic deformation and tension friction, and exhibit poor robustness against external disturbances, making it difficult to achieve precise control and stable docking of the tower material's attitude. Simultaneously, existing control strategies lack precise matching of operating conditions and real-time deviation correction during adjustment processes, failing to meet the precise positioning requirements for high-altitude tower assembly above 70 meters in complex environments such as mountainous terrain. Therefore, a precise positioning control technology that integrates multi-source data, adapts to operating conditions, and can correct deviations in real time is urgently needed. Summary of the Invention

[0003] The purpose of this application is to provide a method and system for precise positioning control of crane tower assembly at high altitudes. This method involves obtaining the pre-set crane operating conditions based on the target operation plan, matching operating condition control parameters, performing status detection on the pre-set crane, performing anomaly correction based on the detection results, collecting basic characteristic data of the target operation plan, including tower condition characteristic data, hoisting characteristic data, and environmental characteristic data, processing the tower condition characteristic data, hoisting characteristic data, and environmental characteristic data to obtain attitude adjustment control parameters, performing tower attitude adjustment based on the attitude adjustment control parameters, extracting attitude parameter deviation values ​​during the attitude adjustment process, correcting parameters based on the deviation values, and confirming the pre-alignment status. If the tower pre-alignment is confirmed to be complete, a precise docking mode is activated, docking deviation parameters are collected, and positioning confirmation and docking deviation correction are performed, thus achieving precise positioning control of crane tower assembly at high altitudes.

[0004] This application also provides a method for precise positioning control of crane tower assembly at high altitudes, including the following steps:

[0005] Obtain the preset operating conditions of the crane according to the target operation plan, and match the operating condition control parameters;

[0006] Perform status detection on the preset crane and perform anomaly correction based on the detection results;

[0007] Collect basic characteristic data of the target operation plan, including tower material condition characteristic data, hoisting characteristic data, and environmental characteristic data;

[0008] The attitude adjustment control parameters are obtained by processing tower material condition characteristic data, hoisting characteristic data and environmental characteristic data.

[0009] The tower material attitude is adjusted according to the attitude adjustment control parameters. The attitude parameter deviation value is extracted during the attitude adjustment process. The parameters are corrected and the pre-alignment status is confirmed based on the deviation value.

[0010] Once the pre-alignment of the tower material is confirmed, the precision docking mode is activated to collect docking deviation parameters and perform positioning confirmation and docking deviation correction.

[0011] Optionally, in the crane high-altitude tower assembly precision positioning control method described in this application, the step of obtaining the preset crane operating conditions according to the target operation plan and matching the operating condition control parameters includes:

[0012] Based on the operational requirements of the target operation plan, obtain the preset operating conditions of the crane, including the boom mode and configuration type;

[0013] Match operating condition control parameters according to the manipulator mode and configuration type;

[0014] The operating condition control parameters include the boom luffing speed range, slewing speed range, lifting speed range, and traction rope tension threshold.

[0015] Optionally, in the crane high-altitude tower assembly precision positioning control method described in this application, the step of performing state detection on the preset crane and performing anomaly correction based on the detection results includes:

[0016] Collect preset crane status parameters, including body tilt angle, boom stress, outrigger stress uniformity, and hydraulic system pressure.

[0017] Obtain condition monitoring reference values, including tilt angle allowable deviation, rated stress value, outrigger force allowable deviation, and rated working pressure value;

[0018] Based on the fuselage tilt angle, boom stress, outrigger stress uniformity, hydraulic system pressure and tilt angle allowable deviation, rated stress, outrigger stress allowable deviation, and rated working pressure, the abnormal state values ​​are obtained by processing them through a preset state detection and evaluation model.

[0019] The comparison results are obtained by comparing the abnormal state values ​​with the preset abnormal state thresholds.

[0020] If the abnormal status value is less than the preset abnormal status threshold, then the preset crane status is normal.

[0021] If the abnormal status value is greater than or equal to the preset abnormal status threshold, the crane status is preset to be abnormal and anomaly correction needs to be performed.

[0022] Optionally, in the crane high-altitude tower assembly precision positioning control method described in this application, the collection of basic characteristic data of the target operation plan includes tower material status characteristic data, hoisting characteristic data, and environmental characteristic data, including:

[0023] Collect basic characteristic data of the target operation plan, including tower material condition characteristic data, hoisting characteristic data, and environmental characteristic data;

[0024] The tower material condition characteristic data includes tower material weight, tower material dimensions, attitude angle, angular velocity, center of gravity position, and elastic modulus;

[0025] The hoisting characteristic data includes hoisting height, traction rope tension, crane boom angle, and hook lifting displacement.

[0026] The environmental characteristic data includes wind speed, temperature, and vibration.

[0027] Optionally, in the crane high-altitude tower assembly precision positioning control method described in this application, the step of processing tower material state characteristic data, hoisting characteristic data, and environmental characteristic data to obtain attitude adjustment control parameters includes:

[0028] Based on wind speed, temperature, and vibration, the control disturbance coefficient is obtained by processing the data through a preset control disturbance evaluation model.

[0029] Based on the tower material condition data and hoisting characteristic data, combined with the control interference coefficient, the attitude adjustment control parameters are obtained by processing through a preset motion and dynamics model.

[0030] The attitude adjustment control parameters include the traction rope winch winding speed, boom luffing, slewing angle, and adjustment time.

[0031] Optionally, in the crane high-altitude tower assembly precision positioning control method described in this application, the step of performing tower posture adjustment according to posture adjustment control parameters, extracting posture parameter deviation values ​​during the posture adjustment process, and performing parameter correction and pre-alignment status confirmation based on the deviation values ​​includes:

[0032] The tower material attitude is adjusted based on the traction rope winch speed, boom luffing, slewing angle, and adjustment time.

[0033] Extract attitude parameter deviations during the attitude adjustment process, including attitude angle deviations and position deviations;

[0034] Obtain a preset set of deviation thresholds, including a first attitude angle deviation threshold, a first position deviation threshold, a second attitude angle deviation threshold, and a second position deviation threshold;

[0035] The first attitude angle deviation threshold is greater than the second attitude angle deviation threshold;

[0036] The first position deviation threshold is greater than the second position deviation threshold;

[0037] The attitude angle deviation value and position deviation value are compared with a preset deviation threshold set;

[0038] If the attitude angle deviation is greater than the first attitude angle deviation threshold, or the position deviation is greater than the first position deviation threshold, then the attitude adjustment control parameters are corrected.

[0039] If the attitude angle deviation is less than or equal to the second attitude angle deviation threshold, and the position deviation is less than or equal to the second position deviation threshold, then the pre-alignment of the tower material is confirmed to be complete.

[0040] Optionally, in the crane high-altitude tower assembly precision positioning control method described in this application, the step of activating the precision docking mode, collecting docking deviation parameters, and performing positioning confirmation and docking deviation correction if the tower pre-alignment is confirmed to be complete includes:

[0041] If the pre-alignment of the tower materials is confirmed to be complete, the precise docking mode for the tower materials will be activated.

[0042] Collect docking deviation parameters, including the docking deviation value and the corresponding collection time;

[0043] The docking deviation value is compared with the preset docking deviation threshold.

[0044] If the docking deviation value is greater than the preset docking deviation threshold, a secondary fine-tuning process will be triggered.

[0045] If the docking deviation value is less than or equal to the preset docking deviation threshold, and the corresponding collection time is greater than the preset collection time threshold, then the tower material is confirmed to be in place.

[0046] Secondly, this application provides a crane high-altitude tower assembly precision positioning control system, the system comprising:

[0047] The working condition matching module is used to select crane operating conditions according to the target operation plan and automatically match control parameters;

[0048] The equipment status detection module is used to perform comprehensive detection of the crane's own operating status, quantitatively evaluate the equipment status, and perform corrective processing for abnormal states.

[0049] The multi-source data acquisition module is used to collect basic feature data of the target operation plan;

[0050] The interference assessment and parameter calculation module is used to quantitatively assess environmental interference and calculate the tower material attitude adjustment control parameters.

[0051] The attitude adjustment and dynamic correction module is used to drive the actuator to complete the attitude adjustment of the tower material according to the control parameters, and to monitor the adjustment deviation and perform correction processing in real time.

[0052] The precise docking and deviation correction module is used to collect docking deviations in real time and perform secondary fine-tuning on deviations exceeding the threshold.

[0053] The positioning confirmation and process closure module is used for the final positioning confirmation of tower material assembly and the closed-loop processing of the entire tower material assembly process.

[0054] Optionally, in the crane high-altitude tower assembly precision positioning control system described in this application, the system further includes: a memory and a processor, wherein the memory includes a program for a crane high-altitude tower assembly precision positioning control method, and when the program for the crane high-altitude tower assembly precision positioning control method is executed by the processor, the following steps are implemented:

[0055] Obtain the preset operating conditions of the crane according to the target operation plan, and match the operating condition control parameters;

[0056] Perform status detection on the preset crane and perform anomaly correction based on the detection results;

[0057] Collect basic characteristic data of the target operation plan, including tower material condition characteristic data, hoisting characteristic data, and environmental characteristic data;

[0058] The attitude adjustment control parameters are obtained by processing tower material condition characteristic data, hoisting characteristic data and environmental characteristic data.

[0059] The tower material attitude is adjusted according to the attitude adjustment control parameters. The attitude parameter deviation value is extracted during the attitude adjustment process. The parameters are corrected and the pre-alignment status is confirmed based on the deviation value.

[0060] Once the pre-alignment of the tower material is confirmed, the precision docking mode is activated to collect docking deviation parameters and perform positioning confirmation and docking deviation correction.

[0061] Optionally, in the crane high-altitude tower assembly precision positioning control system described in this application, the step of obtaining the preset crane operating conditions according to the target operation plan and matching the operating condition control parameters includes:

[0062] Based on the operational requirements of the target operation plan, obtain the preset operating conditions of the crane, including the boom mode and configuration type;

[0063] Match operating condition control parameters according to the manipulator mode and configuration type;

[0064] The operating condition control parameters include the boom luffing speed range, slewing speed range, lifting speed range, and traction rope tension threshold.

[0065] As can be seen from the above, the crane high-altitude tower assembly precision positioning control method and system provided in this application obtains the preset crane's operating conditions according to the target operation plan, matches the operating condition control parameters, performs status detection on the preset crane, performs anomaly correction based on the detection results, collects basic characteristic data of the target operation plan, including tower material status characteristic data, hoisting characteristic data, and environmental characteristic data, processes the tower material status characteristic data, hoisting characteristic data, and environmental characteristic data to obtain attitude adjustment control parameters, performs tower material attitude adjustment according to the attitude adjustment control parameters, extracts attitude parameter deviation values ​​during the attitude adjustment process, performs parameter correction and pre-alignment status confirmation based on the deviation values, and if the tower material pre-alignment is confirmed to be completed, starts the precision docking mode, collects docking deviation parameters, and performs positioning confirmation and docking deviation correction, thereby realizing the technology of precise positioning control for crane high-altitude tower assembly.

[0066] Other features and advantages of this application will be set forth in the following description and will be apparent in part from the description or may be learned by practicing embodiments of this application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings. Attached Figure Description

[0067] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application 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.

[0068] Figure 1 A flowchart illustrating the precise positioning control method for high-altitude tower assembly of cranes provided in this application embodiment;

[0069] Figure 2 This is a schematic diagram of the architecture of the crane high-altitude tower material assembly precision positioning control method provided in the embodiments of this application.

[0070] Figure 3 A system diagram of the crane high-altitude tower assembly precision positioning control system provided in the embodiments of this application. Detailed Implementation

[0071] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0072] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0073] Please refer to Figure 1 , Figure 1 This is a flowchart of a method for precise positioning control of crane tower assembly in some embodiments of this application. This method is used in terminal devices, such as computers and mobile terminals. The method includes the following steps:

[0074] S11. Obtain the preset crane operating conditions according to the target operation plan and match the operating condition control parameters;

[0075] S12. Perform status detection on the preset crane and perform anomaly correction based on the detection results;

[0076] S13. Collect basic characteristic data of the target operation plan, including tower material condition characteristic data, hoisting characteristic data and environmental characteristic data;

[0077] S14. Process the tower material condition data, hoisting characteristic data and environmental characteristic data to obtain attitude adjustment control parameters;

[0078] S15. Perform tower material attitude adjustment according to attitude adjustment control parameters, extract attitude parameter deviation values ​​during attitude adjustment process, and perform parameter correction and pre-alignment status confirmation based on deviation values.

[0079] S16. If the pre-alignment of the tower material is confirmed to be complete, start the precise docking mode, collect the docking deviation parameters, and perform positioning confirmation and docking deviation correction.

[0080] It is particularly important to note that, in accordance with the pre-established high-altitude tower assembly operation plan, the corresponding operating conditions of the crane are clearly defined, and the corresponding control parameters are precisely matched according to the operating conditions, allowing the crane control system to adapt to the operation requirements in advance. After completing the parameter matching, a comprehensive status test is conducted on key components of the crane, such as the boom, traction system, sensing equipment, and control system. If any abnormal equipment operation or parameter setting deviations are found, the abnormality correction is immediately performed according to the specifications to eliminate the fault and adjust the parameters to ensure that the crane is in good operating condition. Subsequently, various sensing devices are activated to comprehensively collect basic operational characteristic data, specifically including three aspects: tower material status characteristic data such as tower material weight, tower material dimensions, attitude angle, angular velocity, center of gravity position, and elastic modulus; lifting characteristic data such as lifting height, traction rope tension, crane boom angle, and hook lifting displacement; and environmental characteristic data such as wind speed, temperature, and vibration at the work site, ensuring that the data is comprehensive and accurate. Then, the collected data are integrated and analyzed, and the tower material attitude adjustment control parameters are calculated in combination with the precise positioning requirements, thereby controlling the crane to adjust the tower material attitude. During adjustment, the attitude parameter deviation value is extracted in real time. The parameters are corrected according to the deviation, and it is confirmed whether the tower material has completed the pre-alignment. After confirmation, the precision docking mode is immediately started. Finally, the docking deviation parameter is collected through high-precision equipment. The tower material positioning is checked first. If there is a deviation, a targeted correction operation is performed. The crane traction, luffing and other systems are fine-tuned to eliminate the docking deviation, thereby realizing the technology of precise positioning control of crane high-altitude tower material assembly.

[0081] According to an embodiment of the present invention, the step of obtaining the preset operating conditions of the crane according to the target operation plan and matching the operating condition control parameters includes:

[0082] Based on the operational requirements of the target operation plan, obtain the preset operating conditions of the crane, including the boom mode and configuration type;

[0083] Match operating condition control parameters according to the manipulator mode and configuration type;

[0084] The operating condition control parameters include the boom luffing speed range, slewing speed range, lifting speed range, and traction rope tension threshold.

[0085] It is particularly important to note that, in conjunction with the target operation plan for high-altitude tower assembly using mountain cranes, the operating conditions of the cranes are first accurately obtained. This core includes two key dimensions: the crane's boom mode and configuration type. The boom mode includes different forms such as main boom operation alone, boom tip pulley and auxiliary hook operation, and main boom + auxiliary boom combined operation. The configuration type distinguishes between full counterweight and distributed counterweight configurations, comprehensively matching the actual lifting operation requirements. After obtaining the operating conditions, corresponding operating condition control parameters are matched based on the determined boom mode and configuration type to ensure that the parameters are highly adapted to the actual operating conditions and meet the lifting accuracy and safety requirements under different conditions. The operating condition control parameters matched specifically include the boom luffing speed range, slewing speed range, lifting speed range, and traction rope tension threshold. Each parameter is precisely set according to the operating height and amplitude of different booms, as well as the overall stability and overturning moment safety factor of the crane under different counterweights. This provides a scientific parameter basis for the crane's subsequent tower lifting, attitude adjustment, and other operations, ensuring the standardization and controllability of the lifting operation.

[0086] According to an embodiment of the present invention, the step of performing state detection on a preset crane and performing anomaly correction based on the detection result includes:

[0087] Collect preset crane status parameters, including body tilt angle, boom stress, outrigger stress uniformity, and hydraulic system pressure.

[0088] Obtain condition monitoring reference values, including tilt angle allowable deviation, rated stress value, outrigger force allowable deviation, and rated working pressure value;

[0089] Based on the fuselage tilt angle, boom stress, outrigger stress uniformity, hydraulic system pressure and tilt angle allowable deviation, rated stress, outrigger stress allowable deviation, and rated working pressure, the abnormal state values ​​are obtained by processing them through a preset state detection and evaluation model.

[0090] The comparison results are obtained by comparing the abnormal state values ​​with the preset abnormal state thresholds.

[0091] If the abnormal status value is less than the preset abnormal status threshold, then the preset crane status is normal.

[0092] If the abnormal status value is greater than or equal to the preset abnormal status threshold, the crane status is preset to be abnormal and anomaly correction needs to be performed.

[0093] It is worth noting that by deploying tilt sensors, micro-strain sensors, and pressure sensors at various key parts of the crane, the core state parameters of the crane are collected in real time. These parameters include the crane body tilt angle, boom stress, outrigger stress uniformity data, and hydraulic system pressure, enabling a comprehensive perception of the overall structure and the operating status of key systems. Subsequently, the system parameter library retrieves the corresponding model's state detection reference values. These reference values, determined through finite element analysis and actual working condition verification, include the allowable tilt angle deviation, boom rated stress, outrigger stress allowable deviation, and hydraulic system rated working pressure. Next, the crane body tilt angle, boom stress, outrigger stress uniformity, and hydraulic system pressure, along with the allowable tilt angle deviation, rated stress, outrigger stress allowable deviation, and rated working pressure, are input into a preset state detection and evaluation model for processing. This model is a comprehensive evaluation model constructed by combining the crane's structural characteristics and the operating laws of the hydraulic system. By combining finite element analysis algorithms with multi-parameter weighted calculation logic, the system can quantitatively analyze deviations in state parameters across different dimensions. It can assign weights based on the impact of each parameter on equipment operational safety, achieving accurate assessment of the overall machine status. The collected actual state parameters and corresponding reference values ​​are input into the model. After data processing and comprehensive analysis, anomaly values ​​representing the overall operational deviation of the equipment are calculated. These anomaly values ​​are compared with a preset anomaly threshold, which is set in accordance with safety requirements for mountain hoisting operations. The comparison yields a clear judgment: if the anomaly value is less than the preset threshold, the crane's structures and systems are considered to be operating normally without any abnormalities, and subsequent operations can proceed. If the anomaly value is greater than or equal to the preset threshold, the crane is deemed to be in an abnormal state, posing a safety hazard. The corresponding anomaly correction process must be initiated immediately to adjust equipment parameters, investigate potential faults, and ensure the safety and stability of subsequent high-altitude tower assembly operations.

[0094] According to an embodiment of the present invention, the basic characteristic data of the target operation plan collected includes tower material condition characteristic data, hoisting characteristic data, and environmental characteristic data, including:

[0095] Collect basic characteristic data of the target operation plan, including tower material condition characteristic data, hoisting characteristic data, and environmental characteristic data;

[0096] The tower material condition characteristic data includes tower material weight, tower material dimensions, attitude angle, angular velocity, center of gravity position, and elastic modulus;

[0097] The hoisting characteristic data includes hoisting height, traction rope tension, crane boom angle, and hook lifting displacement.

[0098] The environmental characteristic data includes wind speed, temperature, and vibration.

[0099] It is worth noting that, regarding the target operation plan for high-altitude tower assembly of mountain cranes, a multi-sensor system collaboratively collects comprehensive basic characteristic data required for the operation. This data is categorized into three main types: tower condition, hoisting operation, and site environment. The tower condition data includes basic structural parameters such as tower weight and dimensions, as well as real-time motion parameters such as attitude angle, angular velocity, and center of gravity position. It also includes the elastic modulus, a key indicator reflecting the structural characteristics of the tower, comprehensively characterizing its own condition and motion features. The hoisting characteristic data focuses on core parameters during the operation, specifically hoisting height, traction rope tension, crane boom angle, and hook lifting displacement, accurately capturing the real-time working conditions of the crane hoisting operation. The environmental characteristic data collects natural environmental parameters such as wind speed and temperature at the work site, as well as environmental disturbance parameters that can affect hoisting stability, such as on-site vibration, fully considering the impact of the external environment on high-altitude tower assembly operations.

[0100] According to an embodiment of the present invention, the step of processing tower material condition characteristic data, hoisting characteristic data, and environmental characteristic data to obtain attitude adjustment control parameters includes:

[0101] Based on wind speed, temperature, and vibration, the control disturbance coefficient is obtained by processing the data through a preset control disturbance evaluation model.

[0102] Based on the tower material condition data and hoisting characteristic data, combined with the control interference coefficient, the attitude adjustment control parameters are obtained by processing through a preset motion and dynamics model.

[0103] The attitude adjustment control parameters include the traction rope winch winding speed, boom luffing, slewing angle, and adjustment time.

[0104] It is particularly important to note that the collected environmental characteristic data, such as wind speed, temperature, and on-site vibration, are first input into a pre-set control disturbance assessment model for professional quantitative processing. This model is built based on the operational characteristics of high-altitude hoisting above 70 meters in mountainous terrain, fully considering the influence weight of various environmental factors on tower hoisting control. Through algorithmic calculation, environmental disturbances are transformed into quantifiable control disturbance coefficients. Subsequently, tower condition characteristic data, such as tower weight, dimensions, attitude angle, and elastic modulus, as well as hoisting characteristic data, such as hoisting height, traction rope tension, crane boom angle, and hook lifting displacement, are integrated to transform these core operational parameters into quantifiable control disturbance coefficients. The data and control interference coefficients are imported into a preset motion and dynamics model. This model is based on the Lagrange equation and fully considers the elastic deformation of the tower material, the tension and friction of the traction rope, as well as the coupling effect of environmental interference. It can accurately deduce the motion law and dynamic characteristics of the tower material. After comprehensive calculation and processing by the model, attitude adjustment control parameters adapted to this high-altitude tower material assembly operation are generated. Specifically, these parameters include the traction rope winch winding speed, boom luffing angle, boom slewing angle, and the adjustment time of each action. The parameters are matched and adapted to each other, which can directly guide the crane actuator to accurately complete the attitude adjustment of the tower material.

[0105] According to an embodiment of the present invention, the step of performing tower material attitude adjustment according to attitude adjustment control parameters, extracting attitude parameter deviation values ​​during the attitude adjustment process, and performing parameter correction and pre-alignment status confirmation based on the deviation values ​​includes:

[0106] The tower material attitude is adjusted based on the traction rope winch speed, boom luffing, slewing angle, and adjustment time.

[0107] Extract attitude parameter deviations during the attitude adjustment process, including attitude angle deviations and position deviations;

[0108] Obtain a preset set of deviation thresholds, including a first attitude angle deviation threshold, a first position deviation threshold, a second attitude angle deviation threshold, and a second position deviation threshold;

[0109] The first attitude angle deviation threshold is greater than the second attitude angle deviation threshold;

[0110] The first position deviation threshold is greater than the second position deviation threshold;

[0111] The attitude angle deviation value and position deviation value are compared with a preset deviation threshold set;

[0112] If the attitude angle deviation is greater than the first attitude angle deviation threshold, or the position deviation is greater than the first position deviation threshold, then the attitude adjustment control parameters are corrected.

[0113] If the attitude angle deviation is less than or equal to the second attitude angle deviation threshold, and the position deviation is less than or equal to the second position deviation threshold, then the pre-alignment of the tower material is confirmed to be complete.

[0114] It should be particularly noted that, based on the pre-generated attitude adjustment control parameters such as the winch winding speed, boom luffing angle, slewing angle, and adjustment time, the crane's various actuators are coordinated to precisely execute the high-altitude attitude adjustment operation of the tower material. This ensures that each action is completed in an orderly manner according to the set rate, angle, and duration, adapting to the attitude control requirements of high-altitude tower assembly in mountainous terrain. During the attitude adjustment process, data is collected in real time through multiple sensing devices such as visual sensors and angle sensors at the boom end and hook, extracting the attitude parameter deviation values ​​of the tower material. These include attitude angle deviation values ​​reflecting the angular displacement of the tower material and position deviation values ​​reflecting the spatial displacement of the tower material. Subsequently, the system's preset deviation threshold set is retrieved. This threshold set is divided into two levels of standards based on the pre-alignment accuracy requirements of high-altitude tower assembly, including the first attitude angle deviation threshold, the first position deviation threshold, and so on. The second attitude angle deviation threshold and the second position deviation threshold are defined, where the first threshold is the coarse adjustment judgment standard and the second threshold is the fine adjustment pre-alignment judgment standard. The first attitude angle deviation threshold is greater than the second attitude angle deviation threshold, and the first position deviation threshold is greater than the second position deviation threshold. Then, the real-time extracted attitude angle deviation value and position deviation value are compared with the preset deviation threshold set item by item. If the attitude angle deviation value is greater than the first attitude angle deviation threshold, or the position deviation value is greater than the first position deviation threshold, it indicates that the tower material attitude deviation is too large, and the original attitude adjustment control parameters need to be corrected and optimized immediately, and the attitude adjustment is re-executed. If the attitude angle deviation value is less than or equal to the second attitude angle deviation threshold, and the position deviation value is less than or equal to the second position deviation threshold, it indicates that the tower material attitude and position have met the pre-alignment accuracy requirements, and the tower material pre-alignment is directly confirmed to be complete.

[0115] According to an embodiment of the present invention, if the pre-alignment of the tower material is confirmed to be complete, the precise docking mode is activated, docking deviation parameters are collected, and positioning confirmation and docking deviation correction are performed, including:

[0116] If the pre-alignment of the tower materials is confirmed to be complete, the precise docking mode for the tower materials will be activated.

[0117] Collect docking deviation parameters, including the docking deviation value and the corresponding collection time;

[0118] The docking deviation value is compared with the preset docking deviation threshold.

[0119] If the docking deviation value is greater than the preset docking deviation threshold, a secondary fine-tuning process will be triggered.

[0120] If the docking deviation value is less than or equal to the preset docking deviation threshold, and the corresponding collection time is greater than the preset collection time threshold, then the tower material is confirmed to be in place.

[0121] It is particularly important to note that after confirming the pre-alignment of the tower materials, the crane's precise tower material docking mode is immediately activated. This mode, designed for the high-precision docking requirements of high-altitude tower material assembly, automatically switches the crane's fine control parameters to improve the adjustment accuracy of actions such as traction rope retraction and boom luffing and slewing, adapting to the micro-control requirements of the final tower material docking. Subsequently, high-precision vision sensors and angle sensors deployed at the boom end and hook continuously collect docking deviation parameters between the tower materials and the tower body. Specifically, this includes docking deviation values ​​reflecting spatial alignment accuracy, as well as the corresponding continuous acquisition duration. After data acquisition is completed, real-time monitoring will be implemented. The system compares the docking deviation value with the system's preset docking deviation threshold. This threshold is based on the engineering precision standards for mountain high-altitude tower assembly and is the core indicator for determining precise docking. If the docking deviation value is greater than the preset threshold, it indicates that the tower material has not met the precision docking requirements, and the system will automatically trigger a secondary fine-tuning process to make small-scale precise corrections to the tower material's attitude. If the docking deviation value is less than or equal to the preset threshold, and the continuous acquisition time corresponding to this deviation state is greater than the preset acquisition time threshold, it indicates that the tower material docking state is stable and meets the precision requirements. The system directly confirms that the tower material is in place and successfully completes the precise placement control of this high-altitude tower assembly.

[0122] Please refer to Figure 2 , Figure 2 This is a schematic diagram of the architecture of the crane high-altitude tower assembly precision positioning control method provided in the embodiments of this application. According to the embodiments of the present invention, for example, a comprehensive inspection of the crane's own condition is performed: including checking the crane body tilt angle (allowable deviation ≤ 0.5°), boom stress (not exceeding 80% of the rated stress), outrigger stress uniformity (stress deviation of each outrigger ≤ 10%), and hydraulic system pressure (within the rated working pressure range), to confirm that there are no abnormalities.

[0123] According to an embodiment of the present invention, it further includes:

[0124] Real-time monitoring of the precise docking process of tower materials, extracting coupling effects, parameter perturbations, and wind load interference;

[0125] Based on the coupling effect, parameter perturbation, and wind load interference, the total interference parameters are obtained by processing them through a preset interference quantization algorithm.

[0126] The initial swing angle of the tower is compensated based on the total interference parameters.

[0127] It is worth noting that throughout the entire process of precise tower material docking, multiple sensors monitor the operational status in real time, accurately extracting three key interference factors that occur during the docking process: the coupling effect between the crane's luffing, slewing, and lifting subsystems; parameter perturbations generated by equipment operation; and wind load interference from the site environment. This comprehensively captures various disturbances affecting docking stability. The extracted data on coupling effects, parameter perturbations, and wind load interference are input into a preset interference quantification algorithm for comprehensive calculation and processing. This algorithm, built in conjunction with the nonlinear characteristics of high-altitude hoisting in mountainous areas, can perform quantitative analysis and weight allocation for different types of interference, integrating multi-source interference into a quantifiable total interference parameter, which intuitively reflects the comprehensive impact of various disturbances. Finally, based on the calculated total interference parameter, targeted compensation is applied to the initial sway angle of the tower material. By adjusting the crane's control commands in real time, the influence of various interferences on the tower material's attitude is offset, effectively suppressing tower sway and ensuring the stability of the tower material's attitude during the precise docking process.

[0128] According to an embodiment of the present invention, it further includes:

[0129] Based on the weight of the tower material and the hoisting height, combined with wind speed and vibration, a preset fuzzy logic anti-sway algorithm is used to obtain the sway adjustment coefficient.

[0130] Obtain the real-time tower material swing angle and the threshold value of the fixed foundation for the swing angle;

[0131] The swing angle fixed base threshold is adjusted according to the swing adjustment coefficient to obtain the swing angle safety threshold;

[0132] The swing angle deviation rate is obtained by comparing the real-time tower material swing angle with the swing angle safety threshold.

[0133] If the swing angle deviation rate is greater than or equal to the preset deviation rate threshold, the real-time tower material swing angle will be adjusted.

[0134] It is worth noting that, in conjunction with core operational parameters such as tower weight and hoisting height, environmental interference data such as on-site wind speed and vibration are simultaneously incorporated and input into a preset fuzzy logic anti-sway algorithm for processing. This algorithm is built upon the nonlinear characteristics of crane hoisting in mountainous terrain, integrating fuzzy control theory to perform weight allocation and quantitative analysis of multi-source influencing factors, accurately calculating the sway adjustment coefficient that adapts to the current operating conditions, providing a basis for dynamically setting the sway angle threshold. Next, real-time tower sway angle data is retrieved from the crane's sensor monitoring system, while simultaneously extracting the system's preset sway angle fixed foundation threshold. This foundation threshold is formulated according to the tower assembly safety operation standards, and sets the sway angle... The control system provides a baseline reference; subsequently, using the calculated swing adjustment coefficient, the swing angle fixed base threshold is dynamically corrected. Combined with actual working conditions and environmental interference, a more adaptable swing angle safety threshold is generated, making the swing angle judgment standard more in line with on-site operation requirements. The real-time tower swing angle is compared with the dynamically adjusted swing angle safety threshold to accurately calculate the swing angle deviation rate between the two, which intuitively reflects the degree of tower swing deviation. If the swing angle deviation rate is greater than or equal to the system's preset deviation rate threshold, it indicates that the tower swing amplitude has exceeded the safe operating range. The system will immediately trigger a swing angle adjustment command to suppress tower swing by adjusting the crane's luffing, slewing, and other actions.

[0135] Secondly, this invention also discloses a crane high-altitude tower assembly precision positioning control system 3, comprising:

[0136] The working condition matching module 31 is used to select the crane working condition according to the target operation plan and automatically match the control parameters;

[0137] The equipment status detection module 32 is used to perform comprehensive detection of the crane's own operating status, quantitatively evaluate the equipment status, and perform corrective processing for abnormal status.

[0138] Multi-source data acquisition module 33 is used to collect basic feature data of the target operation plan;

[0139] The interference assessment and parameter calculation module 34 is used to quantitatively assess environmental interference and calculate the tower material attitude adjustment control parameters.

[0140] The attitude adjustment and dynamic correction module 35 is used to drive the actuator to complete the attitude adjustment of the tower material according to the control parameters, and to monitor the adjustment deviation and perform correction processing in real time.

[0141] The precise docking and deviation correction module 36 is used to collect docking deviations in real time and to perform secondary fine-tuning on deviations exceeding the threshold.

[0142] The positioning confirmation and process closure module 37 is used for the final positioning confirmation of tower material assembly and the closed-loop processing of the entire tower material assembly process.

[0143] It should be particularly noted that this invention also discloses a precise positioning control system for high-altitude tower assembly of cranes, comprising: a working condition matching module, used to obtain the crane's working conditions according to the operational requirements of the target operation plan, select the boom mode and configuration type, and automatically match working condition control parameters including boom luffing, slewing, lifting speed range, and traction rope tension threshold; an equipment status detection module, used to collect status parameters such as crane body tilt angle, boom stress, outrigger force uniformity, and hydraulic system pressure, retrieve corresponding detection reference values, obtain abnormal status values ​​through quantitative calculation using a preset status detection evaluation model, determine the equipment status after comparing with preset thresholds, and perform timely correction processing for abnormal states; and a multi-source data acquisition module, used to comprehensively collect basic characteristic data of the target operation plan, covering tower material status characteristic data such as tower material weight and dimensions, lifting characteristic data such as lifting height and traction rope tension, as well as wind speed, temperature, vibration, etc. The system includes: an environmental characteristic data module; an interference assessment and parameter calculation module, which inputs environmental data into the control interference assessment model to obtain control interference coefficients, and combines tower material and hoisting characteristic data to calculate attitude adjustment control parameters, including traction rope winch retraction speed and boom luffing, through motion and dynamics models; an attitude adjustment and dynamic correction module, which drives the actuator to complete tower material attitude adjustment according to control parameters, extracts attitude angle and position deviation values ​​in real time, compares them with a preset deviation threshold set, corrects control parameters for deviations exceeding the first threshold, and confirms tower material pre-alignment if the second threshold is met; a precise docking and deviation correction module, which initiates precise docking mode after tower material pre-alignment, collects docking deviation values ​​and corresponding durations, compares them with preset thresholds, and triggers a secondary fine-tuning process for deviations exceeding the threshold; and a positioning confirmation and process closed-loop module, which confirms tower material positioning is complete when docking deviation values ​​meet the standard and collection time exceeds the threshold, and simultaneously completes closed-loop processing of the entire tower material assembly process.

[0144] According to an embodiment of the present invention, a crane high-altitude tower assembly precision positioning control system includes a memory and a processor. The memory includes a crane high-altitude tower assembly precision positioning control method program. When the crane high-altitude tower assembly precision positioning control method program is executed by the processor, it performs the following steps:

[0145] Obtain the preset operating conditions of the crane according to the target operation plan, and match the operating condition control parameters;

[0146] Perform status detection on the preset crane and perform anomaly correction based on the detection results;

[0147] Collect basic characteristic data of the target operation plan, including tower material condition characteristic data, hoisting characteristic data, and environmental characteristic data;

[0148] The attitude adjustment control parameters are obtained by processing tower material condition characteristic data, hoisting characteristic data and environmental characteristic data.

[0149] The tower material attitude is adjusted according to the attitude adjustment control parameters. The attitude parameter deviation value is extracted during the attitude adjustment process. The parameters are corrected and the pre-alignment status is confirmed based on the deviation value.

[0150] Once the pre-alignment of the tower material is confirmed, the precision docking mode is activated to collect docking deviation parameters and perform positioning confirmation and docking deviation correction.

[0151] It is particularly important to note that, in accordance with the pre-established high-altitude tower assembly operation plan, the corresponding operating conditions of the crane are clearly defined, and the corresponding control parameters are precisely matched according to the operating conditions, allowing the crane control system to adapt to the operation requirements in advance. After completing the parameter matching, a comprehensive status test is conducted on key components of the crane, such as the boom, traction system, sensing equipment, and control system. If any abnormal equipment operation or parameter setting deviations are found, the abnormality correction is immediately performed according to the specifications to eliminate the fault and adjust the parameters to ensure that the crane is in good operating condition. Subsequently, various sensing devices are activated to comprehensively collect basic operational characteristic data, specifically including three aspects: tower material status characteristic data such as tower material weight, tower material dimensions, attitude angle, angular velocity, center of gravity position, and elastic modulus; lifting characteristic data such as lifting height, traction rope tension, crane boom angle, and hook lifting displacement; and environmental characteristic data such as wind speed, temperature, and vibration at the work site, ensuring that the data is comprehensive and accurate. Then, the collected data are integrated and analyzed, and the tower material attitude adjustment control parameters are calculated in combination with the precise positioning requirements, thereby controlling the crane to adjust the tower material attitude. During adjustment, the attitude parameter deviation value is extracted in real time. The parameters are corrected according to the deviation, and it is confirmed whether the tower material has completed the pre-alignment. After confirmation, the precision docking mode is immediately started. Finally, the docking deviation parameter is collected through high-precision equipment. The tower material positioning is checked first. If there is a deviation, a targeted correction operation is performed. The crane traction, luffing and other systems are fine-tuned to eliminate the docking deviation, thereby realizing the technology of precise positioning control of crane high-altitude tower material assembly.

[0152] According to an embodiment of the present invention, the step of obtaining the preset operating conditions of the crane according to the target operation plan and matching the operating condition control parameters includes:

[0153] Based on the operational requirements of the target operation plan, obtain the preset operating conditions of the crane, including the boom mode and configuration type;

[0154] Match operating condition control parameters according to the manipulator mode and configuration type;

[0155] The operating condition control parameters include the boom luffing speed range, slewing speed range, lifting speed range, and traction rope tension threshold.

[0156] It is particularly important to note that, in conjunction with the target operation plan for high-altitude tower assembly using mountain cranes, the operating conditions of the cranes are first accurately obtained. This core includes two key dimensions: the crane's boom mode and configuration type. The boom mode includes different forms such as main boom operation alone, boom tip pulley and auxiliary hook operation, and main boom + auxiliary boom combined operation. The configuration type distinguishes between full counterweight and distributed counterweight configurations, comprehensively matching the actual lifting operation requirements. After obtaining the operating conditions, corresponding operating condition control parameters are matched based on the determined boom mode and configuration type to ensure that the parameters are highly adapted to the actual operating conditions and meet the lifting accuracy and safety requirements under different conditions. The operating condition control parameters matched specifically include the boom luffing speed range, slewing speed range, lifting speed range, and traction rope tension threshold. Each parameter is precisely set according to the operating height and amplitude of different booms, as well as the overall stability and overturning moment safety factor of the crane under different counterweights. This provides a scientific parameter basis for the crane's subsequent tower lifting, attitude adjustment, and other operations, ensuring the standardization and controllability of the lifting operation.

[0157] According to an embodiment of the present invention, the step of performing state detection on a preset crane and performing anomaly correction based on the detection result includes:

[0158] Collect preset crane status parameters, including body tilt angle, boom stress, outrigger stress uniformity, and hydraulic system pressure.

[0159] Obtain condition monitoring reference values, including tilt angle allowable deviation, rated stress value, outrigger force allowable deviation, and rated working pressure value;

[0160] Based on the fuselage tilt angle, boom stress, outrigger stress uniformity, hydraulic system pressure and tilt angle allowable deviation, rated stress, outrigger stress allowable deviation, and rated working pressure, the abnormal state values ​​are obtained by processing them through a preset state detection and evaluation model.

[0161] The comparison results are obtained by comparing the abnormal state values ​​with the preset abnormal state thresholds.

[0162] If the abnormal status value is less than the preset abnormal status threshold, then the preset crane status is normal.

[0163] If the abnormal status value is greater than or equal to the preset abnormal status threshold, the crane status is preset to be abnormal and anomaly correction needs to be performed.

[0164] It is worth noting that by deploying tilt sensors, micro-strain sensors, and pressure sensors at various key parts of the crane, the core state parameters of the crane are collected in real time. These parameters include the crane body tilt angle, boom stress, outrigger stress uniformity data, and hydraulic system pressure, enabling a comprehensive perception of the overall structure and the operating status of key systems. Subsequently, the system parameter library retrieves the corresponding model's state detection reference values. These reference values, determined through finite element analysis and actual working condition verification, include the allowable tilt angle deviation, boom rated stress, outrigger stress allowable deviation, and hydraulic system rated working pressure. Next, the crane body tilt angle, boom stress, outrigger stress uniformity, and hydraulic system pressure, along with the allowable tilt angle deviation, rated stress, outrigger stress allowable deviation, and rated working pressure, are input into a preset state detection and evaluation model for processing. This model is a comprehensive evaluation model constructed by combining the crane's structural characteristics and the operating laws of the hydraulic system. By combining finite element analysis algorithms with multi-parameter weighted calculation logic, the system can quantitatively analyze deviations in state parameters across different dimensions. It can assign weights based on the impact of each parameter on equipment operational safety, achieving accurate assessment of the overall machine status. The collected actual state parameters and corresponding reference values ​​are input into the model. After data processing and comprehensive analysis, anomaly values ​​representing the overall operational deviation of the equipment are calculated. These anomaly values ​​are compared with a preset anomaly threshold, which is set in accordance with safety requirements for mountain hoisting operations. The comparison yields a clear judgment: if the anomaly value is less than the preset threshold, the crane's structures and systems are considered to be operating normally without any abnormalities, and subsequent operations can proceed. If the anomaly value is greater than or equal to the preset threshold, the crane is deemed to be in an abnormal state, posing a safety hazard. The corresponding anomaly correction process must be initiated immediately to adjust equipment parameters, investigate potential faults, and ensure the safety and stability of subsequent high-altitude tower assembly operations.

[0165] According to an embodiment of the present invention, the basic characteristic data of the target operation plan collected includes tower material condition characteristic data, hoisting characteristic data, and environmental characteristic data, including:

[0166] Collect basic characteristic data of the target operation plan, including tower material condition characteristic data, hoisting characteristic data, and environmental characteristic data;

[0167] The tower material condition characteristic data includes tower material weight, tower material dimensions, attitude angle, angular velocity, center of gravity position, and elastic modulus;

[0168] The hoisting characteristic data includes hoisting height, traction rope tension, crane boom angle, and hook lifting displacement.

[0169] The environmental characteristic data includes wind speed, temperature, and vibration.

[0170] It is worth noting that, regarding the target operation plan for high-altitude tower assembly of mountain cranes, a multi-sensor system collaboratively collects comprehensive basic characteristic data required for the operation. This data is categorized into three main types: tower condition, hoisting operation, and site environment. The tower condition data includes basic structural parameters such as tower weight and dimensions, as well as real-time motion parameters such as attitude angle, angular velocity, and center of gravity position. It also includes the elastic modulus, a key indicator reflecting the structural characteristics of the tower, comprehensively characterizing its own condition and motion features. The hoisting characteristic data focuses on core parameters during the operation, specifically hoisting height, traction rope tension, crane boom angle, and hook lifting displacement, accurately capturing the real-time working conditions of the crane hoisting operation. The environmental characteristic data collects natural environmental parameters such as wind speed and temperature at the work site, as well as environmental disturbance parameters that can affect hoisting stability, such as on-site vibration, fully considering the impact of the external environment on high-altitude tower assembly operations.

[0171] According to an embodiment of the present invention, the step of processing tower material condition characteristic data, hoisting characteristic data, and environmental characteristic data to obtain attitude adjustment control parameters includes:

[0172] Based on wind speed, temperature, and vibration, the control disturbance coefficient is obtained by processing the data through a preset control disturbance evaluation model.

[0173] Based on the tower material condition data and hoisting characteristic data, combined with the control interference coefficient, the attitude adjustment control parameters are obtained by processing through a preset motion and dynamics model.

[0174] The attitude adjustment control parameters include the traction rope winch winding speed, boom luffing, slewing angle, and adjustment time.

[0175] It is particularly important to note that the collected environmental characteristic data, such as wind speed, temperature, and on-site vibration, are first input into a pre-set control disturbance assessment model for professional quantitative processing. This model is built based on the operational characteristics of high-altitude hoisting above 70 meters in mountainous terrain, fully considering the influence weight of various environmental factors on tower hoisting control. Through algorithmic calculation, environmental disturbances are transformed into quantifiable control disturbance coefficients. Subsequently, tower condition characteristic data, such as tower weight, dimensions, attitude angle, and elastic modulus, as well as hoisting characteristic data, such as hoisting height, traction rope tension, crane boom angle, and hook lifting displacement, are integrated to transform these core operational parameters into quantifiable control disturbance coefficients. The data and control interference coefficients are imported into a preset motion and dynamics model. This model is based on the Lagrange equation and fully considers the elastic deformation of the tower material, the tension and friction of the traction rope, as well as the coupling effect of environmental interference. It can accurately deduce the motion law and dynamic characteristics of the tower material. After comprehensive calculation and processing by the model, attitude adjustment control parameters adapted to this high-altitude tower material assembly operation are generated. Specifically, these parameters include the traction rope winch winding speed, boom luffing angle, boom slewing angle, and the adjustment time of each action. The parameters are matched and adapted to each other, which can directly guide the crane actuator to accurately complete the attitude adjustment of the tower material.

[0176] According to an embodiment of the present invention, the step of performing tower material attitude adjustment according to attitude adjustment control parameters, extracting attitude parameter deviation values ​​during the attitude adjustment process, and performing parameter correction and pre-alignment status confirmation based on the deviation values ​​includes:

[0177] The tower material attitude is adjusted based on the traction rope winch speed, boom luffing, slewing angle, and adjustment time.

[0178] Extract attitude parameter deviations during the attitude adjustment process, including attitude angle deviations and position deviations;

[0179] Obtain a preset set of deviation thresholds, including a first attitude angle deviation threshold, a first position deviation threshold, a second attitude angle deviation threshold, and a second position deviation threshold;

[0180] The first attitude angle deviation threshold is greater than the second attitude angle deviation threshold;

[0181] The first position deviation threshold is greater than the second position deviation threshold;

[0182] The attitude angle deviation value and position deviation value are compared with a preset deviation threshold set;

[0183] If the attitude angle deviation is greater than the first attitude angle deviation threshold, or the position deviation is greater than the first position deviation threshold, then the attitude adjustment control parameters are corrected.

[0184] If the attitude angle deviation is less than or equal to the second attitude angle deviation threshold, and the position deviation is less than or equal to the second position deviation threshold, then the pre-alignment of the tower material is confirmed to be complete.

[0185] It should be particularly noted that, based on the pre-generated attitude adjustment control parameters such as the winch winding speed, boom luffing angle, slewing angle, and adjustment time, the crane's various actuators are coordinated to precisely execute the high-altitude attitude adjustment operation of the tower material. This ensures that each action is completed in an orderly manner according to the set rate, angle, and duration, adapting to the attitude control requirements of high-altitude tower assembly in mountainous terrain. During the attitude adjustment process, data is collected in real time through multiple sensing devices such as visual sensors and angle sensors at the boom end and hook, extracting the attitude parameter deviation values ​​of the tower material. These include attitude angle deviation values ​​reflecting the angular displacement of the tower material and position deviation values ​​reflecting the spatial displacement of the tower material. Subsequently, the system's preset deviation threshold set is retrieved. This threshold set is divided into two levels of standards based on the pre-alignment accuracy requirements of high-altitude tower assembly, including the first attitude angle deviation threshold, the first position deviation threshold, and so on. The second attitude angle deviation threshold and the second position deviation threshold are defined, where the first threshold is the coarse adjustment judgment standard and the second threshold is the fine adjustment pre-alignment judgment standard. The first attitude angle deviation threshold is greater than the second attitude angle deviation threshold, and the first position deviation threshold is greater than the second position deviation threshold. Then, the real-time extracted attitude angle deviation value and position deviation value are compared with the preset deviation threshold set item by item. If the attitude angle deviation value is greater than the first attitude angle deviation threshold, or the position deviation value is greater than the first position deviation threshold, it indicates that the tower material attitude deviation is too large, and the original attitude adjustment control parameters need to be corrected and optimized immediately, and the attitude adjustment is re-executed. If the attitude angle deviation value is less than or equal to the second attitude angle deviation threshold, and the position deviation value is less than or equal to the second position deviation threshold, it indicates that the tower material attitude and position have met the pre-alignment accuracy requirements, and the tower material pre-alignment is directly confirmed to be complete.

[0186] According to an embodiment of the present invention, if the pre-alignment of the tower material is confirmed to be complete, the precise docking mode is activated, docking deviation parameters are collected, and positioning confirmation and docking deviation correction are performed, including:

[0187] If the pre-alignment of the tower materials is confirmed to be complete, the precise docking mode for the tower materials will be activated.

[0188] Collect docking deviation parameters, including the docking deviation value and the corresponding collection time;

[0189] The docking deviation value is compared with the preset docking deviation threshold.

[0190] If the docking deviation value is greater than the preset docking deviation threshold, a secondary fine-tuning process will be triggered.

[0191] If the docking deviation value is less than or equal to the preset docking deviation threshold, and the corresponding collection time is greater than the preset collection time threshold, then the tower material is confirmed to be in place.

[0192] It is particularly important to note that after confirming the pre-alignment of the tower materials, the crane's precise tower material docking mode is immediately activated. This mode, designed for the high-precision docking requirements of high-altitude tower material assembly, automatically switches the crane's fine control parameters to improve the adjustment accuracy of actions such as traction rope retraction and boom luffing and slewing, adapting to the micro-control requirements of the final tower material docking. Subsequently, high-precision vision sensors and angle sensors deployed at the boom end and hook continuously collect docking deviation parameters between the tower materials and the tower body. Specifically, this includes docking deviation values ​​reflecting spatial alignment accuracy, as well as the corresponding continuous acquisition duration. After data acquisition is completed, real-time monitoring will be implemented. The system compares the docking deviation value with the system's preset docking deviation threshold. This threshold is based on the engineering precision standards for mountain high-altitude tower assembly and is the core indicator for determining precise docking. If the docking deviation value is greater than the preset threshold, it indicates that the tower material has not met the precision docking requirements, and the system will automatically trigger a secondary fine-tuning process to make small-scale precise corrections to the tower material's attitude. If the docking deviation value is less than or equal to the preset threshold, and the continuous acquisition time corresponding to this deviation state is greater than the preset acquisition time threshold, it indicates that the tower material docking state is stable and meets the precision requirements. The system directly confirms that the tower material is in place and successfully completes the precise placement control of this high-altitude tower assembly.

[0193] According to an embodiment of the present invention, it further includes:

[0194] Real-time monitoring of the precise docking process of tower materials, extracting coupling effects, parameter perturbations, and wind load interference;

[0195] Based on the coupling effect, parameter perturbation, and wind load interference, the total interference parameters are obtained by processing them through a preset interference quantization algorithm.

[0196] The initial swing angle of the tower is compensated based on the total interference parameters.

[0197] It is worth noting that throughout the entire process of precise tower material docking, multiple sensors monitor the operational status in real time, accurately extracting three key interference factors that occur during the docking process: the coupling effect between the crane's luffing, slewing, and lifting subsystems; parameter perturbations generated by equipment operation; and wind load interference from the site environment. This comprehensively captures various disturbances affecting docking stability. The extracted data on coupling effects, parameter perturbations, and wind load interference are input into a preset interference quantification algorithm for comprehensive calculation and processing. This algorithm, built in conjunction with the nonlinear characteristics of high-altitude hoisting in mountainous areas, can perform quantitative analysis and weight allocation for different types of interference, integrating multi-source interference into a quantifiable total interference parameter, which intuitively reflects the comprehensive impact of various disturbances. Finally, based on the calculated total interference parameter, targeted compensation is applied to the initial sway angle of the tower material. By adjusting the crane's control commands in real time, the influence of various interferences on the tower material's attitude is offset, effectively suppressing tower sway and ensuring the stability of the tower material's attitude during the precise docking process.

[0198] According to an embodiment of the present invention, it further includes:

[0199] Based on the weight of the tower material and the hoisting height, combined with wind speed and vibration, a preset fuzzy logic anti-sway algorithm is used to obtain the sway adjustment coefficient.

[0200] Obtain the real-time tower material swing angle and the threshold value of the fixed foundation for the swing angle;

[0201] The swing angle fixed base threshold is adjusted according to the swing adjustment coefficient to obtain the swing angle safety threshold;

[0202] The swing angle deviation rate is obtained by comparing the real-time tower material swing angle with the swing angle safety threshold.

[0203] If the swing angle deviation rate is greater than or equal to the preset deviation rate threshold, the real-time tower material swing angle will be adjusted.

[0204] It is worth noting that, in conjunction with core operational parameters such as tower weight and hoisting height, environmental interference data such as on-site wind speed and vibration are simultaneously incorporated and input into a preset fuzzy logic anti-sway algorithm for processing. This algorithm is built upon the nonlinear characteristics of crane hoisting in mountainous terrain, integrating fuzzy control theory to perform weight allocation and quantitative analysis of multi-source influencing factors, accurately calculating the sway adjustment coefficient that adapts to the current operating conditions, providing a basis for dynamically setting the sway angle threshold. Next, real-time tower sway angle data is retrieved from the crane's sensor monitoring system, while simultaneously extracting the system's preset sway angle fixed foundation threshold. This foundation threshold is formulated according to the tower assembly safety operation standards, and sets the sway angle... The control system provides a baseline reference; subsequently, using the calculated swing adjustment coefficient, the swing angle fixed base threshold is dynamically corrected. Combined with actual working conditions and environmental interference, a more adaptable swing angle safety threshold is generated, making the swing angle judgment standard more in line with on-site operation requirements. The real-time tower swing angle is compared with the dynamically adjusted swing angle safety threshold to accurately calculate the swing angle deviation rate between the two, which intuitively reflects the degree of tower swing deviation. If the swing angle deviation rate is greater than or equal to the system's preset deviation rate threshold, it indicates that the tower swing amplitude has exceeded the safe operating range. The system will immediately trigger a swing angle adjustment command to suppress tower swing by adjusting the crane's luffing, slewing, and other actions.

[0205] This invention discloses a method and system for precise positioning control of high-altitude tower assembly of cranes. The method involves obtaining the pre-set operating conditions of the crane according to the target operation plan, matching operating condition control parameters, performing status detection on the pre-set crane, performing anomaly correction based on the detection results, collecting basic characteristic data of the target operation plan, including tower material status characteristic data, hoisting characteristic data, and environmental characteristic data, processing the tower material status characteristic data, hoisting characteristic data, and environmental characteristic data to obtain attitude adjustment control parameters, performing tower material attitude adjustment according to the attitude adjustment control parameters, extracting attitude parameter deviation values ​​during the attitude adjustment process, correcting parameters based on the deviation values, and confirming the pre-alignment status. If the pre-alignment of the tower material is confirmed to be complete, a precise docking mode is activated, docking deviation parameters are collected, and positioning confirmation and docking deviation correction are performed, thereby achieving precise positioning control technology for high-altitude tower assembly of cranes.

[0206] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0207] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0208] In addition, in the various embodiments of the present invention, each functional unit can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0209] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0210] Alternatively, if the integrated units of this invention are implemented as software functional modules and sold or used as independent products, they can also be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of this invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, RAM, magnetic disks, or optical disks.

Claims

1. A method for precise positioning control of crane tower assembly at high altitudes, characterized in that, Includes the following steps: Obtain the preset operating conditions of the crane according to the target operation plan, and match the operating condition control parameters; Perform status detection on the preset crane and perform anomaly correction based on the detection results; Collect basic characteristic data of the target operation plan, including tower material condition characteristic data, hoisting characteristic data, and environmental characteristic data; The attitude adjustment control parameters are obtained by processing tower material condition characteristic data, hoisting characteristic data and environmental characteristic data. The tower material attitude is adjusted according to the attitude adjustment control parameters. The attitude parameter deviation value is extracted during the attitude adjustment process. The parameters are corrected and the pre-alignment status is confirmed based on the deviation value. Once the pre-alignment of the tower material is confirmed, the precision docking mode is activated to collect docking deviation parameters and perform positioning confirmation and docking deviation correction.

2. The method for precise positioning control of crane high-altitude tower assembly according to claim 1, characterized in that, The step of obtaining the preset crane operating conditions according to the target operation plan and matching the operating condition control parameters includes: Based on the operational requirements of the target operation plan, obtain the preset operating conditions of the crane, including the boom mode and configuration type; Match operating condition control parameters according to the manipulator mode and configuration type; The operating condition control parameters include the boom luffing speed range, slewing speed range, lifting speed range, and traction rope tension threshold.

3. The method for precise positioning control of crane high-altitude tower assembly according to claim 1, characterized in that, The step of performing status detection on the preset crane and performing anomaly correction based on the detection results includes: Collect preset crane status parameters, including body tilt angle, boom stress, outrigger stress uniformity, and hydraulic system pressure. Obtain condition monitoring reference values, including tilt angle allowable deviation, rated stress value, outrigger force allowable deviation, and rated working pressure value; Based on the fuselage tilt angle, boom stress, outrigger stress uniformity, hydraulic system pressure and tilt angle allowable deviation, rated stress, outrigger stress allowable deviation, and rated working pressure, the abnormal state values ​​are obtained by processing them through a preset state detection and evaluation model. The comparison results are obtained by comparing the abnormal state values ​​with the preset abnormal state thresholds. If the abnormal status value is less than the preset abnormal status threshold, then the preset crane status is normal. If the abnormal status value is greater than or equal to the preset abnormal status threshold, the crane status is preset to be abnormal and anomaly correction needs to be performed.

4. The method for precise positioning control of crane high-altitude tower assembly according to claim 1, characterized in that, The basic characteristic data of the target operation plan collected includes tower material condition characteristic data, hoisting characteristic data, and environmental characteristic data, including: Collect basic characteristic data of the target operation plan, including tower material condition characteristic data, hoisting characteristic data, and environmental characteristic data; The tower material condition characteristic data includes tower material weight, tower material dimensions, attitude angle, angular velocity, center of gravity position, and elastic modulus; The hoisting characteristic data includes hoisting height, traction rope tension, crane boom angle, and hook lifting displacement; The environmental characteristic data includes wind speed, temperature, and vibration.

5. The method for precise positioning control of crane high-altitude tower assembly according to claim 4, characterized in that, The process of processing tower material condition data, hoisting characteristic data, and environmental characteristic data to obtain attitude adjustment control parameters includes: Based on wind speed, temperature, and vibration, the control disturbance coefficient is obtained by processing the data through a preset control disturbance evaluation model. Based on the tower material condition data and hoisting characteristic data, combined with the control interference coefficient, the attitude adjustment control parameters are obtained by processing through a preset motion and dynamics model. The attitude adjustment control parameters include the traction rope winch winding speed, boom luffing, slewing angle, and adjustment time.

6. The method for precise positioning control of crane high-altitude tower assembly according to claim 5, characterized in that, The process of adjusting the tower material's attitude according to the attitude adjustment control parameters, extracting the attitude parameter deviation value during the attitude adjustment process, and correcting the parameters and confirming the pre-alignment status based on the deviation value includes: The tower's posture is adjusted based on the winch's winding and unwinding speed, boom luffing, slewing angle, and adjustment time. Extract attitude parameter deviations during the attitude adjustment process, including attitude angle deviations and position deviations; Obtain a preset set of deviation thresholds, including a first attitude angle deviation threshold, a first position deviation threshold, a second attitude angle deviation threshold, and a second position deviation threshold; The first attitude angle deviation threshold is greater than the second attitude angle deviation threshold; The first position deviation threshold is greater than the second position deviation threshold; The attitude angle deviation value and the position deviation value are compared with a preset deviation threshold set; If the attitude angle deviation is greater than the first attitude angle deviation threshold, or the position deviation is greater than the first position deviation threshold, then the attitude adjustment control parameters are corrected. If the attitude angle deviation is less than or equal to the second attitude angle deviation threshold, and the position deviation is less than or equal to the second position deviation threshold, then the pre-alignment of the tower material is confirmed to be complete.

7. The method for precise positioning control of crane high-altitude tower assembly according to claim 6, characterized in that, If the pre-alignment of the tower material is confirmed to be complete, the precision docking mode is activated, docking deviation parameters are collected, and positioning confirmation and docking deviation correction are performed, including: If the pre-alignment of the tower materials is confirmed to be complete, the precise docking mode for the tower materials will be activated. Collect docking deviation parameters, including the docking deviation value and the corresponding collection time; The docking deviation value is compared with the preset docking deviation threshold. If the docking deviation value is greater than the preset docking deviation threshold, a secondary fine-tuning process will be triggered. If the docking deviation value is less than or equal to the preset docking deviation threshold, and the corresponding collection time is greater than the preset collection time threshold, then the tower material is confirmed to be in place.

8. A crane high-altitude tower assembly precision positioning control system, wherein the crane high-altitude tower assembly precision positioning control system implements the crane high-altitude tower assembly precision positioning control method according to any one of claims 1-7, characterized in that, include: The working condition matching module is used to select crane operating conditions according to the target operation plan and automatically match control parameters; The equipment status detection module is used to perform comprehensive detection of the crane's own operating status, quantitatively evaluate the equipment status, and perform corrective processing for abnormal states. The multi-source data acquisition module is used to collect basic characteristic data of the target operation plan; The interference assessment and parameter calculation module is used to quantitatively assess environmental interference and calculate the tower material attitude adjustment control parameters. The attitude adjustment and dynamic correction module is used to drive the actuator to complete the attitude adjustment of the tower material according to the control parameters, and to monitor the adjustment deviation and perform correction processing in real time. The precise docking and deviation correction module is used to collect docking deviations in real time and perform secondary fine-tuning on deviations exceeding the threshold. The positioning confirmation and process closure module is used for the final positioning confirmation of tower material assembly, as well as the closed-loop processing of the entire tower material assembly process.

9. The crane high-altitude tower assembly precision positioning control system according to claim 8, characterized in that, It also includes a memory and a processor. The memory stores a program for a precise positioning control method for assembling tower components at high altitudes on a crane. When the program for precise positioning control method for assembling tower components at high altitudes on a crane is executed by the processor, it performs the following steps: Obtain the preset operating conditions of the crane according to the target operation plan, and match the operating condition control parameters; Perform status detection on the preset crane and perform anomaly correction based on the detection results; Collect basic characteristic data of the target operation plan, including tower material condition characteristic data, hoisting characteristic data, and environmental characteristic data; The attitude adjustment control parameters are obtained by processing tower material condition characteristic data, hoisting characteristic data and environmental characteristic data. The tower material attitude is adjusted according to the attitude adjustment control parameters. The attitude parameter deviation value is extracted during the attitude adjustment process. The parameters are corrected and the pre-alignment status is confirmed based on the deviation value. Once the pre-alignment of the tower material is confirmed, the precision docking mode is activated to collect docking deviation parameters and perform positioning confirmation and docking deviation correction.

10. The crane high-altitude tower assembly precision positioning control system according to claim 9, characterized in that, The step of obtaining the preset crane operating conditions according to the target operation plan and matching the operating condition control parameters includes: Based on the operational requirements of the target operation plan, obtain the preset operating conditions of the crane, including the boom mode and configuration type; Match operating condition control parameters according to the manipulator mode and configuration type; The operating condition control parameters include the boom luffing speed range, slewing speed range, lifting speed range, and traction rope tension threshold.

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