Self-adaptive deviation rectification control system of tower crane

Abstract

The invention discloses a self-adaptive rectification control system for a tower crane, and relates to the technical field of crane rectification control, and the self-adaptive rectification control system specifically comprises a rectification control center which is in communication connection with an environment deviation interference detection unit, an environment and operation cooperative interference detection unit and a scene-divided rectification control unit, according to the invention, the environment deviation interference detection unit, the environment and operation cooperative interference detection unit and the scene-based deviation correction control unit are coordinated through the deviation correction control center, so that the full-process and multi-dimensional deviation interference detection and self-adaptive deviation correction of the tower crane are realized, and the self-adaptive deviation correction of the tower crane is realized through layered detection, scene-based decision making and accurate control. Various deviation interference hidden dangers are identified in real time, a deviation correction strategy is dynamically adjusted, the stability, safety and high efficiency of operation of the tower crane are effectively improved, the equipment loss and the safety accident rate are reduced, and the distribution and transportation requirements under different working conditions are met.

Description

Technical Field

[0001] This invention relates to the field of crane correction control technology, specifically to an adaptive correction control system for tower cranes. Background Technology

[0002] As a core heavy equipment in fields such as construction and port loading and unloading, the operational accuracy and safety of tower cranes are directly related to construction efficiency, personnel safety and property safety. In the current industry, the correction control of tower cranes mostly adopts the traditional fixed threshold control mode, which only makes simple adjustments to the deviation of the equipment's own running trajectory. It lacks comprehensive consideration of complex operating environments, the synergistic effect between the environment and equipment operation, and different transportation scenarios, resulting in many technical bottlenecks.

[0003] For example, the operating environment of tower cranes is complex and changeable. Environmental factors such as interference from adjacent equipment, accumulation of debris on the ground, and changes in wind force can easily lead to deviations in equipment operation. Conventional systems do not have a dedicated environmental deviation interference detection module, which cannot capture such interference in real time, and can easily cause hidden dangers such as equipment collisions and trajectory deviations. Meanwhile, the synergistic interference between environmental factors and equipment operation has not been taken seriously. The mutual influence between wind force and direction changes and equipment operating trajectory and speed cannot be accurately identified, resulting in delayed corrective decisions and untimely deviation correction.

[0004] Furthermore, different transported materials (such as fragile and non-fragile items) have different requirements for the stability and speed control of the transport trajectory. Traditional correction systems use a uniform correction strategy, which cannot adapt to the transport needs of different scenarios, and can easily cause material damage or excessive equipment wear.

[0005] To address the aforementioned technical shortcomings, an adaptive deviation correction control system for tower cranes is proposed. This system aims to achieve multi-dimensional deviation interference detection and adaptive correction throughout the entire operation process of tower cranes by coordinating environmental deviation interference detection units, environmental and operational collaborative interference detection units, and scenario-specific deviation correction control units through a deviation correction control center. Summary of the Invention

[0006] The purpose of this invention is to solve the problems mentioned above by proposing an adaptive correction control system for tower cranes.

[0007] The objective of this invention can be achieved through the following technical solution: an adaptive correction control system for a tower crane, comprising a correction control center, wherein the correction control center is communicatively connected to an environmental deviation interference detection unit, an environmental and operational collaborative interference detection unit, and a scenario-specific correction control unit; The environmental deviation interference detection unit monitors the operating environment of the tower crane and performs deviation interference detection based on the operating environment. Based on the deviation interference detection results, the deviation control center performs deviation control. The environmental and operational interference detection unit detects interference between the tower crane's operating environment and its operating actions, and performs adaptive correction control of the tower crane. The scenario-specific correction control unit performs scenario-specific correction control based on the type of materials transported by the tower crane.

[0008] Furthermore, the process of deviation interference detection in the environmental deviation interference detection unit is as follows: The real-time spatial working scene and ground working scene of the tower crane are obtained. The spatial working scene refers to the working scene in the space where the tower crane is located, and the ground working scene refers to the working scene at the location of the tower crane. The system obtains the corresponding extended points of adjacent crane operating components in the spatial working scenario, specifically the distance of the crane operating components from the points that exceed the trajectory during actual operation. It also obtains the frequency of the corresponding extended points of adjacent crane operating components entering the detection range of the current tower crane sensor and records the frequency of each stage to obtain the frequency growth rate. Simultaneously, the frequency of change of vacant areas within the material hoisting area of ​​a tower crane in a ground-based work scenario is obtained.

[0009] Furthermore, the frequency growth rate and the frequency of change in vacant areas are compared with the growth rate threshold and the frequency of change threshold, respectively: If the frequency growth rate exceeds the growth rate threshold, or the change frequency of the vacant area exceeds the change frequency threshold, it is inferred that the environmental deviation interference detection is abnormal, an environmental deviation interference signal is generated and sent to the correction control center; if the frequency growth rate does not exceed the growth rate threshold, and the change frequency of the vacant area does not exceed the change frequency threshold, it is inferred that the environmental deviation interference detection is normal, an environmental deviation normal signal is generated and sent to the correction control center.

[0010] Furthermore, after receiving an environmental deviation interference signal, the correction control center adjusts the current tower crane's actions or the timing of its actions, and manages the hoisting area during the adjustment phase to prevent area occupation. After receiving a normal environmental deviation signal, the correction control center continuously monitors the tower crane's spatial working environment and ground working environment.

[0011] Furthermore, the process of cooperative interference detection in the environmental and operational cooperative interference detection unit is as follows: Extract the operating period of the tower crane and extract the wind force value of the operating scene based on the tower crane's work log during the operating period; compare the operating scene with the corresponding manufacturing operating scene of the current type of tower crane to infer whether the tower crane's operating scene is suitable for the wind force value of the current operating scene. If it is suitable, mark the current operating scene as a low-intensity scene; otherwise, if it is not suitable, mark the current operating scene as a high-intensity scene.

[0012] Furthermore, in low-intensity scenarios, the movement points of the tower crane at various times are obtained and connected to form a movement trajectory; at the same time, the wind force value of the operating scenario at each time point is recorded and the wind direction at the corresponding time is attached. The movement trajectory of the tower crane at each stage is compared with the wind direction of the corresponding operating scene. If the movement trajectory is consistent with the wind direction of the corresponding operating scene and the wind direction of the operating scene remains constant, the current stage is marked as the inertial deviation stage and sent to the deviation correction control center. If the trajectory of the action is inconsistent with the wind direction of the corresponding time period, or if the wind direction of the operating scenario continues to change, the current stage will be marked as a low-interference stage and sent to the correction control center.

[0013] Furthermore, in high-intensity scenarios, based on the tower crane's movement trajectory and the wind direction at each moment, the windward surface of the tower crane at the corresponding moment is determined. The area of ​​the windward surface of the tower crane is compared with a threshold. If the area of ​​the windward surface of the tower crane is higher than the windward surface area threshold, the corresponding moment is marked as a high-obstruction moment; if the area of ​​the windward surface of the tower crane is not higher than the windward surface area threshold, the corresponding moment is marked as a low-obstruction moment. Several high-impedance periods are obtained based on high-impedance moments; and several low-impedance periods are obtained based on low-impedance moments; if the distribution density of high-impedance periods is lower than the set high-impedance period distribution density threshold, and the cumulative duration of low-impedance periods is higher than the set cumulative duration threshold, then the current stage is marked as the runtime deviation stage. If the distribution density of high-obstruction periods is not lower than the set high-obstruction period distribution density threshold, or the cumulative duration of low-obstruction periods is not higher than the set cumulative duration threshold, then the current stage will be marked as the operational decision deviation stage. Send each type of stage to the correction control center.

[0014] Furthermore, upon receiving the inertial deviation phase, the correction control center performs operational control on the tower crane, controlling the speed of the tower crane's actions within the current phase to reduce deviations caused by inertia in the equipment's operation. Upon receiving the low-interference phase, the current phase is designated as the preferred operational phase, and the tower crane's dispatching work is concentrated in this phase. Upon receiving the operational timing deviation phase, the current phase is designated as a non-active operational phase, i.e., the current non-active operational phase is used as the auxiliary work execution phase for the tower crane. Upon receiving the operational decision deviation phase, the center monitors and predicts the wind force and direction at each moment during execution within the current phase, and makes decisions on the tower crane's operating time based on the real-time monitoring results and prediction results.

[0015] Furthermore, the process of scenario-specific error correction control in the scenario-specific error correction control unit is as follows: The materials transported by the tower crane are categorized into fragile and non-fragile items. The floating acceleration of the transport trajectory within each transport stage is obtained. Based on the floating acceleration, a decision is made on whether the current transport needs to be corrected. If the floating acceleration exceeds a set floating acceleration threshold, it is inferred that the current transport trajectory has changed due to inertia, and the current moment is marked as the moment of transport trajectory interference. If the floating acceleration does not exceed the set floating acceleration threshold, it is inferred that the current transport trajectory has not changed due to inertia, and the current moment is marked as the moment of transport trajectory stability.

[0016] Furthermore, when the transport trajectory is disturbed, if the material being transported is fragile, the floating stroke of the transport trajectory is changed, and the speed is controlled to reduce the trajectory floating acceleration. When transporting to the designated area, the speed can be controlled within the set range to avoid material damage. If the material being transported is not fragile, the power supply time of the transport equipment is changed, and power supply is stopped when trajectory floating acceleration occurs. The equipment uses its own inertia to counteract the acceleration until it stabilizes, then power supply is resumed and the equipment is executed according to the set transport trajectory.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. By specifically monitoring the spatial and ground working scenarios of tower cranes, the frequency and growth rate of interference at adjacent equipment extension points, as well as the frequency of changes in ground hoisting areas and vacant areas, can be accurately captured, thereby achieving quantitative detection and accurate judgment of environmental deviation interference and breaking the limitations of traditional environmental monitoring that "only detects, but does not quantify". It can anticipate potential hazards such as collisions between adjacent equipment and occupation of ground-mounted areas, avoid equipment damage and safety accidents caused by environmental interference, improve equipment operation safety, and quickly identify interference anomalies through threshold comparison, promptly sending signals to the correction control center to provide accurate data support for correction decisions, avoid correction delays, and adapt to scenarios such as multi-equipment collaborative operation and complex ground operation environments for dynamic monitoring of environmental interference, thereby improving the system's environmental adaptability.

[0018] 2. Breaking away from the traditional "separate detection of environment and operation" model, it achieves coordinated monitoring of the operating environment (wind force, wind direction) and equipment operation actions, accurately identifies the types of deviations in different scenarios, and provides differentiated deviation signals for the deviation correction control center; By adapting to wind speed values ​​in different operating scenarios, low-intensity and high-intensity scenarios are distinguished, providing a basis for subsequent differentiated correction strategies. This avoids the limitations of a single correction method. In low-intensity scenarios, inertial deviation and low-interference phases are accurately distinguished, and correction strategies are adjusted accordingly to reduce unnecessary correction actions, lower equipment wear and tear, and improve operational efficiency. In high-intensity scenarios, by comparing windward surface area thresholds and classifying time periods, high-obstruction and low-obstruction moments and deviation types (operational timing deviation and operational decision deviation) are accurately identified, preventing trajectory deviation and equipment damage in strong winds and improving the operational stability of equipment in complex environments.

[0019] 3. Develop differentiated correction strategies based on the type of transported materials, breaking the traditional "uniform correction" model and achieving precise adaptation of correction strategies to transport scenarios; By detecting floating acceleration, the system accurately identifies the moments of disturbance and stability in the transport trajectory, ensuring timely and precise triggering of corrective actions and avoiding potential trajectory deviations. For fragile items, the system optimizes the floating stroke and speed control of the transport trajectory, effectively reducing material damage caused by trajectory fluctuations and sudden speed changes, improving transport quality, and reducing economic losses. For non-fragile items, the system utilizes equipment inertia to counteract floating acceleration, optimizing energy supply timing, reducing energy consumption, improving equipment operating efficiency, and ensuring a stable trajectory. Attached Figure Description

[0020] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0021] Figure 1 This is a system principle block diagram of the present invention; Figure 2 This is a flowchart of the method for detecting environmental deviation interference in this invention. Detailed Implementation

[0022] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0024] Please see Figures 1-2 As shown, an adaptive correction control system for a tower crane includes a correction control center, which is communicatively connected to an environmental deviation interference detection unit, an environmental and operational collaborative interference detection unit, and a scenario-specific correction control unit. The correction control center generates an environmental deviation interference detection signal and sends it to the environmental deviation interference detection unit. After receiving the environmental deviation interference detection signal, the environmental deviation interference detection unit monitors the operating environment of the tower crane and performs deviation interference detection based on the operating environment to facilitate the correction control center in making correction decisions. The system acquires the real-time spatial working scene and ground working scene of the tower crane. The spatial working scene refers to the working scene in the space where the tower crane is located, and the ground working scene refers to the working scene at the location of the tower crane. It should be noted that the purpose of the airborne working scene monitoring is to monitor the operating space, such as the working interference caused by adjacent equipment, while the purpose of the ground working scene monitoring is to monitor the operating ground, such as the working interference caused by debris piled up at the corresponding location. The system obtains the corresponding extended points of adjacent crane operating components in the spatial working scenario, specifically the distance of the crane operating components from the points that exceed the trajectory during actual operation. It also obtains the frequency of the corresponding extended points of adjacent crane operating components entering the detection range of the current tower crane sensor and records the frequency of each stage to obtain the frequency growth rate. Simultaneously, the frequency of change of vacant areas within the material lifting area of ​​a tower crane in ground working scenarios is obtained, specifically indicating that other materials occupy the lifting area and that the occupied positions change during the lifting phase; The frequency growth rate and the frequency of change in vacant areas are compared with the growth rate threshold and the frequency of change threshold, respectively: If the frequency growth rate exceeds the growth rate threshold, or the change frequency of the vacant area exceeds the change frequency threshold, it is inferred that the environmental deviation interference detection is abnormal, an environmental deviation interference signal is generated and sent to the correction control center. After receiving the environmental deviation interference signal, the correction control center adjusts the current tower crane's operation or adjusts the operation execution time, and manages the lifting area during the adjustment phase to avoid area occupation. If the frequency growth rate does not exceed the growth rate threshold and the change frequency of the vacant area does not exceed the change frequency threshold, it is inferred that the environmental deviation interference detection is normal, an environmental deviation normal signal is generated and sent to the correction control center. After receiving the environmental deviation normal signal, the correction control center continuously monitors the spatial working scene and the ground working scene of the tower crane. Growth rate threshold (the threshold for the growth rate of the frequency of adjacent crane extension points entering the detection range): Origin: Based on the safe operating distance standard for tower cranes (industry standard GB / T 5031-2019 "Tower Cranes"), and combined with the operating speed and boom length of adjacent equipment, the safe frequency range of interference at the extension points of adjacent equipment is determined. When the frequency growth rate exceeds this range, there is a risk of collision. At the same time, the threshold range is corrected by referring to historical accident data of multiple cranes operating in concert, so as to avoid misjudgment.

[0025] Acquisition method: The "standard preset + dynamic calibration" mode is adopted. First, the initial threshold is preset according to the equipment model and boom length. Then, through equipment trial operation, 100-200 sets of data on the frequency growth rate of cooperative operation of adjacent equipment are collected. Combined with the effective data of collision-free operation, the threshold is calibrated by fitting with the least squares method. Subsequently, the threshold is dynamically adjusted by ±5% every quarter according to the actual operation data (such as interference frequency and collision risk records) to ensure adaptation to changes in the scenario.

[0026] Frequency change threshold (frequency change threshold for vacant areas in ground-mounted installation area): Origin: By combining the size and weight of the materials to be hoisted with the area of ​​the hoisting area, a reasonable range of variation in the vacant ground area is determined. If the frequency of variation is too high, it indicates that the hoisting area is in disarray, which is likely to lead to hoisting deviations. By referring to the on-site operation specifications of building construction and port loading and unloading, and combining relevant data on "ground occupation changes" in historical hoisting accidents, a threshold bottom line is determined.

[0027] Acquisition method: First, based on the area of ​​the hoisting area and the type of materials being transported, preset initial thresholds (e.g., for small material hoisting areas, the change frequency threshold is set to 3 times / hour; for large material hoisting areas, it is set to 1 time / hour); then, through on-site trial operation, collect data on changes in vacant areas under different working conditions, combine with hoisting safety records, filter valid data, and use statistical analysis methods (e.g., mean ± standard deviation) to determine the final threshold; the threshold is dynamically adjusted monthly based on the usage of the hoisting area (e.g., material stacking type, operation density).

[0028] The correction control center generates environmental and operational coordinated interference detection signals and sends them to the environmental and operational coordinated interference detection unit. After receiving the environmental and operational cooperative interference detection signal, the environmental and operational cooperative interference detection unit performs cooperative interference detection on the operating environment and operating actions of the tower crane, and completes the adaptive correction control of the tower crane. Extract the operating period of the tower crane and extract the wind force value of the operating scene based on the tower crane's work log during the operating period; compare the operating scene with the corresponding manufacturing operating scene of the current type of tower crane to infer whether the tower crane's operating scene is suitable for the wind force value of the current operating scene. If it is suitable, mark the current operating scene as a low-intensity scene; otherwise, if it is not suitable, mark the current operating scene as a high-intensity scene. In low-intensity scenarios, the movement points of the tower crane at various times are obtained and connected to form a movement trajectory; at the same time, the wind force value of the operating scene at each time point is recorded and the wind direction at the corresponding time is attached. The movement trajectory of the tower crane at each stage is compared with the wind direction of the corresponding operating scene. If the movement trajectory is consistent with the wind direction of the corresponding operating scene and the wind direction of the operating scene remains constant, the current stage is marked as the inertial deviation stage and sent to the deviation correction control center. If the movement trajectory is inconsistent with the wind direction of the operation scenario during the corresponding time period, or if the wind direction of the operation scenario continues to change, the current stage will be marked as a low-interference stage and sent to the correction control center. In high-intensity scenarios, based on the movement trajectory of the tower crane and the wind direction at each moment, the windward surface of the tower crane at the corresponding moment is determined. The area of ​​the windward surface of the tower crane is compared with a threshold. If the area of ​​the windward surface of the tower crane is higher than the windward surface area threshold, the corresponding moment is marked as a high-obstruction moment; if the area of ​​the windward surface of the tower crane is not higher than the windward surface area threshold, the corresponding moment is marked as a low-obstruction moment. Several high-impedance time periods are obtained based on high-impedance times; and several low-impedance time periods are obtained based on low-impedance times; it should be noted that the time periods of different types do not have to be adjacent. If the distribution density of high-obstruction periods is lower than the set high-obstruction period distribution density threshold, and the cumulative duration of low-obstruction periods is higher than the set cumulative duration threshold, then the current stage will be marked as the runtime deviation stage. If the distribution density of high-obstruction periods is not lower than the set high-obstruction period distribution density threshold, or the cumulative duration of low-obstruction periods is not higher than the set cumulative duration threshold, then the current stage will be marked as the operational decision deviation stage. Send each type of stage to the correction control center; Upon receiving the inertial deviation phase, the correction control center implements operational control for the tower crane, controlling the speed of its actions within the current phase to reduce deviations caused by inertia. Upon receiving the low-interference phase, it designates the current phase as the preferred operational phase and concentrates the tower crane's operations within this phase. Upon receiving the operational deviation phase, it designates the current phase as a non-active operational phase, using it for auxiliary tasks such as power testing and equipment maintenance. Upon receiving the operational decision deviation phase, it monitors and predicts wind speed and direction at various times during the current phase, and makes operational timing decisions for the tower crane based on real-time monitoring and prediction results. Operating scenario wind force value adaptation threshold (device adapted wind force range): Origin: Based on the manufacturing parameters of tower cranes (the rated wind resistance capacity of the equipment provided by the manufacturer), combined with the wind resistance level requirements of different crane models in industry standards, the wind range that the equipment is suitable for is determined. If it exceeds this range, it is judged as unsuitable for the scenario. At the same time, the threshold is adjusted by referring to the wind and meteorological data of different regions to adapt to regional differences.

[0029] Acquisition method: Directly extract the rated wind resistance value from the equipment's manufacturer's manual as the initial threshold; then combine it with meteorological data of the equipment's operating location (maximum and average wind speed values ​​for the past year), as well as valid data on "wind compatibility" during the equipment's historical operation, to adjust the threshold range (e.g., if the manufacturer's wind resistance value is 12 m / s, adjust it to 10-12 m / s based on local meteorological data); calibrate the threshold every six months based on equipment wear and tear and changes in meteorological data.

[0030] Windward surface area threshold: Origin: Based on the structural parameters of tower cranes (boom area, tower cross-sectional area), combined with the equipment's rated load and wind resistance, the safe range of the windward area is determined. When it exceeds this range, the wind force has an excessively strong obstructive effect on the equipment's operation, which can easily lead to trajectory deviation. The threshold is corrected by referring to the equipment's safe operation data under strong winds in the industry, so as to avoid misjudgment at high obstruction moments.

[0031] Acquisition method: Calculate the maximum and minimum windward surface area under different operating angles through 3D modeling of the equipment, and preset the initial threshold based on the rated wind resistance capacity; then collect equipment operation deviation data under different windward surface areas through trial operation in strong wind scenarios, filter out the area range with no obvious deviation, and determine the final threshold; calibrate the threshold quarterly based on equipment structural wear (such as boom deformation).

[0032] High-obstruction period distribution density threshold: Origin: By combining the duration of wind in high-intensity scenarios and equipment operating efficiency, a reasonable distribution density for high-obstruction periods is determined. If the density is too high, it indicates that the equipment operation is severely obstructed by wind, and the operation decision needs to be adjusted. By referring to the safe operation records of equipment under strong winds and combining the needs of the transportation task, the threshold range is determined.

[0033] Acquisition method: Preset initial threshold (e.g., high-obstruction periods not exceeding 20 minutes per hour, distribution density threshold set to 0.33); then collect distribution data of high-obstruction periods through high-intensity scenario trial operation, and adjust the threshold using statistical analysis method in combination with equipment operating efficiency and safety records; dynamically optimize the threshold monthly based on the intensity of the transportation task.

[0034] Low-obstruction period cumulative duration threshold: Origin: Based on the transportation task requirements in high-intensity scenarios, the minimum cumulative duration of low-obstruction periods is determined to ensure that the equipment can complete the core transportation tasks. If the duration is insufficient, it indicates that the equipment operation is too obstructed by wind and the operating time needs to be adjusted. The threshold is corrected by combining historical transportation data from high-intensity scenarios.

[0035] Acquisition method: Based on the single duration of the dispatch task and the daily task volume, preset an initial threshold (e.g., the cumulative low-obstruction period per day should not be less than 4 hours); then, through actual operation data, collect the task completion rate under different low-obstruction durations, filter the duration range with a task completion rate ≥90%, and determine the final threshold; adjust the threshold dynamically every week according to the dispatch tasks.

[0036] The correction control center generates scene-specific correction control signals and sends them to the scene-specific correction control unit. After receiving the scene-specific correction control signal, the scene-specific correction control unit performs scene-specific correction control according to the type of material being transported by the tower crane. Based on the type of materials transported by the tower crane, the transported materials are divided into fragile items and non-fragile items; The system acquires the floating acceleration of the material transport trajectory during the material transport phase of the tower crane. Based on the floating acceleration, it determines whether the current transport needs to be corrected. That is, if the floating acceleration exceeds the set floating acceleration threshold, it is inferred that the current transport trajectory has changed due to inertia, and the current moment is marked as the moment of transport trajectory disturbance; if the floating acceleration does not exceed the set floating acceleration threshold, it is inferred that the current transport trajectory has not changed due to inertia, and the current moment is marked as the moment of transport trajectory stability. When the transport trajectory is disturbed, if the material being transported is fragile, the floating stroke of the transport trajectory is changed and the speed is controlled to reduce the trajectory floating acceleration. When transporting to the designated area, the speed is controlled within the set range to avoid material damage. If the material being transported is not fragile, the power supply time of the transport equipment is changed, and the power supply is stopped when trajectory floating acceleration occurs. The equipment uses its own inertia to counteract the acceleration until it stabilizes, then the power supply is resumed and the equipment is executed according to the set transport trajectory.

[0037] Floating acceleration threshold: Origin: Based on the characteristics of the transported materials (impact resistance of fragile items and bump resistance of non-fragile items), combined with the operating speed and load capacity of the tower crane, the safe range of trajectory floating acceleration is determined. When it exceeds this range, the trajectory is prone to significant deviation, which requires triggering a correction action. The threshold is adjusted by referring to the safety acceleration standards for the transport of different materials in the industry to adapt to the needs of the scenario.

[0038] Acquisition method: Two initial thresholds are preset (fragile items: ≤0.5m / s²; non-fragile items: ≤1.0m / s²); then, through trial operation of different materials, relevant data on floating acceleration, material damage, and trajectory deviation are collected. Combined with safety records, the threshold is calibrated using regression analysis; when transporting different types of materials in each batch, the threshold is fine-tuned by ±0.1m / s² according to the specific characteristics of the materials (such as the fragility level of fragile items).

[0039] Obviously, many modifications and variations can be made based on the content of this specification. These embodiments have been selected and specifically described in this specification to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. An adaptive correction control system for a tower crane, characterized in that, This includes a correction control center, which is connected to an environmental deviation interference detection unit, an environmental and operational collaborative interference detection unit, and a scenario-specific correction control unit. The environmental deviation interference detection unit monitors the operating environment of the tower crane and performs deviation interference detection based on the operating environment. Based on the deviation interference detection results, the deviation control center performs deviation control. The environmental and operational interference detection unit detects interference between the tower crane's operating environment and its operating actions, and performs adaptive correction control of the tower crane. The scenario-specific correction control unit performs scenario-specific correction control based on the type of materials transported by the tower crane.

2. The adaptive correction control system for a tower crane according to claim 1, characterized in that, The process of deviation interference detection in the environmental deviation interference detection unit is as follows: The real-time spatial working scene and ground working scene of the tower crane are obtained. The spatial working scene refers to the working scene in the space where the tower crane is located, and the ground working scene refers to the working scene at the location of the tower crane. The system obtains the corresponding extended points of adjacent crane operating components in the spatial working scenario, specifically the distance of the crane operating components from the points that exceed the trajectory during actual operation. It also obtains the frequency of the corresponding extended points of adjacent crane operating components entering the detection range of the current tower crane sensor and records the frequency of each stage to obtain the frequency growth rate. Simultaneously, the frequency of change of vacant areas within the material hoisting area of ​​a tower crane in a ground-based work scenario is obtained.

3. The adaptive correction control system for a tower crane according to claim 2, characterized in that, The frequency growth rate and the frequency of change in vacant areas are compared with the growth rate threshold and the frequency of change threshold, respectively: If the frequency growth rate exceeds the growth rate threshold, or the change frequency of the vacant area exceeds the change frequency threshold, it is inferred that the environmental deviation interference detection is abnormal, an environmental deviation interference signal is generated and sent to the correction control center; if the frequency growth rate does not exceed the growth rate threshold, and the change frequency of the vacant area does not exceed the change frequency threshold, it is inferred that the environmental deviation interference detection is normal, an environmental deviation normal signal is generated and sent to the correction control center.

4. The adaptive correction control system for a tower crane according to claim 3, characterized in that, After receiving an environmental deviation interference signal, the correction control center adjusts the current tower crane's actions or the timing of its actions, and manages the lifting area during the adjustment phase to prevent area occupation. After receiving a normal environmental deviation signal, the correction control center continuously monitors the tower crane's spatial working environment and ground working environment.

5. The adaptive correction control system for a tower crane according to claim 1, characterized in that, The process of cooperative interference detection in the environmental and operational cooperative interference detection unit is as follows: Extract the operating period of the tower crane and extract the wind force value of the operating scene based on the tower crane's work log during the operating period; compare the operating scene with the corresponding manufacturing operating scene of the current type of tower crane to infer whether the tower crane's operating scene is suitable for the wind force value of the current operating scene. If it is suitable, mark the current operating scene as a low-intensity scene; otherwise, if it is not suitable, mark the current operating scene as a high-intensity scene.

6. The adaptive correction control system for a tower crane according to claim 5, characterized in that, In low-intensity scenarios, the movement points of the tower crane at various times are obtained and connected to form a movement trajectory; at the same time, the wind force value of the operating scene at each time point is recorded and the wind direction at the corresponding time is attached. The movement trajectory of the tower crane at each stage is compared with the wind direction of the corresponding operating scene. If the movement trajectory is consistent with the wind direction of the corresponding operating scene and the wind direction of the operating scene remains constant, the current stage is marked as the inertial deviation stage and sent to the deviation correction control center. If the trajectory of the action is inconsistent with the wind direction of the corresponding time period, or if the wind direction of the operating scenario continues to change, the current stage will be marked as a low-interference stage and sent to the correction control center.

7. The adaptive correction control system for a tower crane according to claim 6, characterized in that, In high-intensity scenarios, based on the movement trajectory of the tower crane and the wind direction at each moment, the windward surface of the tower crane at the corresponding moment is determined. The area of ​​the windward surface of the tower crane is compared with a threshold. If the area of ​​the windward surface of the tower crane is higher than the windward surface area threshold, the corresponding moment is marked as a high-obstruction moment; if the area of ​​the windward surface of the tower crane is not higher than the windward surface area threshold, the corresponding moment is marked as a low-obstruction moment. Several high-impedance periods are obtained based on high-impedance moments; and several low-impedance periods are obtained based on low-impedance moments; if the distribution density of high-impedance periods is lower than the set high-impedance period distribution density threshold, and the cumulative duration of low-impedance periods is higher than the set cumulative duration threshold, then the current stage is marked as the runtime deviation stage. If the distribution density of high-obstruction periods is not lower than the set high-obstruction period distribution density threshold, or the cumulative duration of low-obstruction periods is not higher than the set cumulative duration threshold, then the current stage will be marked as the operational decision deviation stage. Send each type of stage to the correction control center.

8. The adaptive correction control system for a tower crane according to claim 7, characterized in that, After receiving the inertial deviation phase, the correction control center controls the operation of the tower crane, controlling the speed of the tower crane's actions in the current phase to reduce the deviation caused by inertia in the equipment's operation; after receiving the low disturbance phase, the current phase is selected as the preferred operation phase, and the tower crane's dispatching work is concentrated in the current phase. Upon receiving the runtime deviation phase, the current phase is designated as a non-active operation phase, i.e., the current non-active operation phase is designated as the auxiliary work execution phase of the tower crane. Upon receiving the operational decision deviation phase, the system monitors and predicts the wind force and direction at each moment during the current phase, and makes decisions on the tower crane's operating time based on the real-time monitoring and prediction results.

9. The adaptive correction control system for a tower crane according to claim 1, characterized in that, The process of scenario-specific error correction control in the scenario-specific error correction control unit is as follows: The materials transported by the tower crane are categorized into fragile and non-fragile items. The floating acceleration of the transport trajectory within each transport stage is obtained. Based on the floating acceleration, a decision is made on whether the current transport needs to be corrected. If the floating acceleration exceeds a set floating acceleration threshold, it is inferred that the current transport trajectory has changed due to inertia, and the current moment is marked as the moment of transport trajectory interference. If the floating acceleration does not exceed the set floating acceleration threshold, it is inferred that the current transport trajectory has not changed due to inertia, and the current moment is marked as the moment of transport trajectory stability.

10. The adaptive correction control system for a tower crane according to claim 9, characterized in that, When the transport trajectory is disturbed, if the material being transported is fragile, the floating stroke of the transport trajectory is changed and the speed is controlled to reduce the trajectory floating acceleration. When transported to the designated area, the speed can be controlled within the set range to avoid material damage. If the material being transported is not fragile, the power supply time of the transport equipment is changed, and power supply is stopped when trajectory floating acceleration occurs. The equipment uses its own inertia to counteract the acceleration until it stabilizes, then power supply is resumed and the equipment is executed according to the set transport trajectory.

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