Auxiliary driving control method, device and equipment of multi-gear tower crane and storage medium

Abstract

This invention discloses an auxiliary driving control method, device, equipment, and storage medium for a multi-gear tower crane. Utilizing the actual position and speed detected by an encoder, the maximum permissible gear is calculated based on the difference between the remaining distance and the natural stopping distance within each fine-tuning control cycle. A Kalman filter is then used to predict the position and speed for multiple future cycles, dynamically determining the target gear to be output in the current cycle and maintaining operation. This process is repeated until the remaining distance is less than or equal to the natural stopping distance, at which point the power is shut off. This allows the tower crane mechanism to automatically complete a smooth driving process from start to finish, even with only discrete gears, no active braking, and disturbances such as wind and wear, and to naturally stop at the target point using friction, without manual intervention.

Description

Technical Field

[0001] This invention relates to the field of assisted driving, and in particular to an assisted driving control method, device, equipment, and storage medium for a multi-level tower crane. Background Technology

[0002] Tower cranes are commonly used lifting equipment in construction projects, and they come in two types: continuously variable speed (CVT) motors and multi-stage constant speed motors. For tower cranes with multi-stage constant speed motors, their three main mechanisms are typically driven by multi-speed motors, with multi-stage speed control achieved through a frequency converter. This type of tower crane has a limited number of speed gears and lacks active braking functionality; deceleration relies solely on the frictional resistance of the mechanism itself. When it is necessary to move the load precisely from the current position to the target position, the operator must manually switch gears based on experience and disengage the power in advance, relying on natural coasting to the destination.

[0003] However, existing control methods are mainly designed for continuously variable transmission (CVT) motors and are not suitable for multi-stage constant speed motors. The few existing control methods for tower cranes with multi-stage constant speed motors require manual fine-tuning by the operator and have poor automatic performance.

[0004] There is currently no effective solution to the technical problem that the control methods for multi-stage constant-speed motor tower cranes still require manual fine-tuning by operators and have a low degree of automation. Summary of the Invention

[0005] The purpose of this invention is to provide an auxiliary driving control method, device, equipment, and storage medium for multi-speed tower cranes, in order to solve the technical problem that the control methods of multi-speed motor tower cranes in the prior art still require manual fine-tuning by the operator and have a low degree of automation.

[0006] According to one aspect of the present invention, an auxiliary driving control method for a multi-speed tower crane is provided, the method comprising: Obtain the initialization parameters of the tower crane mechanism; wherein, the initialization parameters include: fine-tuning cycle duration, endpoint position and natural stopping distance, wherein the natural stopping distance is the distance that the tower crane mechanism slides to a stop naturally by friction after the power output is turned off when it is running at the lowest gear; Starting from the start time of the tower crane's operation, and with intervals of the fine-tuning cycle duration, a first fine-tuning control cycle is determined. Within this cycle, speed control is performed. The speed control operation includes: detecting the actual position and actual speed of the tower crane at the start of the current fine-tuning control cycle; calculating the distance between the actual position and the endpoint position as the remaining distance; calculating the maximum gear the tower crane is allowed to reach within the distance difference between the remaining distance and the natural stopping distance; inputting the actual position and actual speed into a preset Kalman filter to obtain the predicted position and predicted speed of the tower crane at the start of M consecutive future fine-tuning control cycles; determining the target gear the tower crane needs to adjust to within the current fine-tuning control cycle based on the predicted position and predicted speed; and controlling the tower crane to remain at the target gear. Determine the next fine-tuning control cycle and repeat the speed control operation until the latest calculated remaining distance does not exceed the natural coasting distance; The power output of the tower crane mechanism is turned off so that the tower crane mechanism can naturally decelerate to a stop by relying on friction.

[0007] Optionally, the calculation of the maximum gear that the tower crane mechanism is allowed to reach within the distance difference between the remaining distance and the natural stopping distance includes: Calculate the distance difference between the remaining distance and the natural stopping distance; Using the deceleration motion of the tower crane mechanism within the distance difference as a constraint, and based on the distance difference, the calibrated speed of the lowest gear of the tower crane mechanism in the initialization parameters, and the acceleration of the tower crane mechanism when it performs deceleration motion, the maximum allowable speed within the distance difference is calculated. Select the highest gear from the various gears of the tower crane mechanism whose calibrated speed is less than or equal to the maximum speed.

[0008] Optionally, the initialization parameters further include: calibrated upshift time, calibrated downshift time, upshift duration, downshift duration, acceleration of the tower crane mechanism during deceleration, and acceleration of the tower crane mechanism during acceleration. The calibrated upshift time is the calibrated time to complete one gear increase, the calibrated downshift time is the calibrated time to complete one gear decrease, the upshift duration includes the calibrated upshift time and upshift stabilization time, the upshift stabilization time is the expected duration of continuous operation at the calibrated speed of the upshifted gear, and the downshift duration includes the calibrated downshift time and downshift stabilization time, the downshift stabilization time is the duration of continuous operation at the calibrated speed of the downshifted gear.

[0009] Optionally, determining the target gear that the tower crane mechanism needs to be adjusted to within the current fine-tuning control cycle based on the predicted position and the predicted speed includes: Calculate the distance between each predicted position and the endpoint position to obtain the remaining distance for each fine-tuning control cycle in the next M consecutive fine-tuning control cycles; When each remaining distance is greater than the natural stopping distance, determine that each of the next M consecutive fine-tuning control cycles falls within the duration of the upshift or downshift. Based on the target stage, determine the expected speed of the tower crane mechanism at the beginning of each of the next M consecutive fine-tuning control cycles. Based on the deviation between the predicted speed and the corresponding expected speed, determine the target gear to be adjusted to in the current fine-tuning control cycle. When any one or more remaining distances do not exceed the natural stopping distance, the power output of the tower crane mechanism is turned off so that the tower crane mechanism can naturally decelerate to a stop by relying on friction.

[0010] Optionally, determining the desired speed of the tower crane mechanism at the initial moment of each fine-tuning control cycle in the next M consecutive fine-tuning control cycles based on the target stage includes: If the target stage of a certain fine-tuning control cycle in the future M consecutive fine-tuning control cycles is within the calibration upshift time or the calibration downshift time, the expected speed of the tower crane mechanism at the beginning of the future fine-tuning control cycle is calculated based on the actual speed and the acceleration corresponding to the target stage. If the target stage corresponding to a certain fine-tuning control cycle in the future M consecutive fine-tuning control cycles is within the time of increasing gear stability or the time of decreasing gear stability, the calibration speed of the gear corresponding to the future fine-tuning control cycle will be used as the expected speed of the tower crane mechanism at the beginning of the future fine-tuning control cycle.

[0011] Optionally, determining the target gear to be adjusted to within the current fine-tuning control cycle based on the deviation between the predicted speed and the corresponding desired speed includes: With each desired speed as the center and the first preset tolerance threshold as the radius, construct the desired speed range corresponding to each desired speed; If any one or more predicted speeds are higher than the upper limit of the corresponding expected speed range, the target gear to be adjusted to within the current fine-tuning control cycle will be set to one gear lower than the current gear. If any one or more predicted speeds are lower than the lower limit of the corresponding expected speed range, the target gear to be adjusted to within the current fine-tuning control cycle will be set to one gear higher than the current gear. If each predicted speed is within the corresponding desired speed range, set the target gear to be adjusted to within the current fine-tuning control cycle as the current gear.

[0012] Optionally, the method further includes: During each operation of the tower crane mechanism, it is determined whether the deviation between the average actual speed of the tower crane mechanism at each gear during the gear increase stabilization time or the gear decrease stabilization time and the corresponding calibrated speed exceeds a second preset tolerance threshold. If the deviation is exceeded, record the deviation event for each gear that exceeds the limit; wherein, the deviation event includes: the gear indicator and the average of the actual speed; The cumulative number of deviation events for each gear is calculated based on the gear position identifier. When the cumulative number of deviation events in any gear exceeds a preset threshold, and the deviation between the average values ​​of any two actual speeds in all deviation events of that gear does not exceed a third preset tolerance threshold, calculate the total average value of the average values ​​of the actual speeds in all deviation events of that gear, and update the calibrated speed of that gear to the total average value.

[0013] To achieve the above objectives, the present invention further provides an auxiliary driving control device for a multi-level tower crane, the device comprising: The acquisition module is used to acquire the initialization parameters of the tower crane mechanism; wherein, the initialization parameters include: fine-tuning cycle duration, endpoint position and natural stopping distance, wherein the natural stopping distance is the distance that the tower crane mechanism slides to a stop naturally by friction after the power output is turned off when it is running at the lowest gear; The control module is configured to: determine the first fine-tuning control cycle based on the start time of the tower crane mechanism's operation, and at intervals of the fine-tuning cycle duration; and perform speed control operations within the fine-tuning control cycle. The speed control operations include: detecting the actual position and actual speed of the tower crane mechanism at the start of the current fine-tuning control cycle; calculating the distance between the actual position and the endpoint position as the remaining distance; calculating the maximum gear that the tower crane mechanism is allowed to reach within the distance difference between the remaining distance and the natural stopping distance; inputting the actual position and actual speed into a preset Kalman filter to obtain the predicted position and predicted speed of the tower crane mechanism at the start of M consecutive future fine-tuning control cycles; determining the target gear that the tower crane mechanism needs to adjust to within the current fine-tuning control cycle based on the predicted position and predicted speed; controlling the tower crane mechanism to remain at the target gear; determining the next fine-tuning control cycle and repeating the speed control operations until the latest calculated remaining distance does not exceed the natural stopping distance. The power module is used to shut off the power output of the tower crane mechanism, so that the tower crane mechanism can naturally decelerate to a stop by relying on friction.

[0014] To achieve the above objectives, the present invention also provides a computer device, the computer device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the auxiliary driving control method for the multi-level tower crane described above.

[0015] To achieve the above objectives, the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is used to implement the steps of the auxiliary driving control method for the multi-level tower crane described above.

[0016] The auxiliary driving control method, device, equipment, and storage medium for multi-speed tower cranes provided by this invention utilize the actual position and speed detected by an encoder. Within each fine-tuning control cycle, the maximum allowable speed is calculated based on the difference between the remaining distance and the natural stopping distance. A Kalman filter is used to predict the position and speed for multiple future cycles, thereby dynamically determining the target speed to be output in the current cycle and maintaining operation. This process is repeated until the remaining distance is less than or equal to the natural stopping distance, at which point the power is shut off. This allows the tower crane mechanism to automatically complete a smooth driving process from start to finish under conditions of discrete speeds, no active braking, and disturbances such as wind and wear. The crane then naturally stops at the target point using friction, without manual intervention. The positioning accuracy can be controlled within 0.1 units, solving the technical problem that existing multi-speed motor tower crane control methods still require manual fine-tuning by the operator and have a low degree of automation. Attached Figure Description

[0017] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 A flowchart of the auxiliary driving control method for a multi-speed tower crane provided in Example 1; Figure 2 This is a schematic diagram of the auxiliary driving control scheme for a multi-level tower crane provided in Example 1; Figure 3 This is a block diagram of the auxiliary driving control device for a multi-speed tower crane provided in Embodiment 2; Figure 4 This is a block diagram of a computer device suitable for implementing an auxiliary driving control method for multi-level tower cranes, as provided in Embodiment 3. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0019] Example 1 Embodiment 1 of the present invention provides an auxiliary driving control method for a multi-speed tower crane, such as... Figure 1 As shown, the method includes steps S1 to S4, wherein: Step S1: Obtain the initialization parameters of the tower crane mechanism; wherein, the initialization parameters include: fine-tuning cycle duration, endpoint position and natural stopping distance, wherein the natural stopping distance is the distance that the tower crane mechanism slides to a stop naturally by friction after the power output is turned off when it is running at the lowest gear.

[0020] The tower crane mechanism is one of the three main mechanisms of a tower crane. It should be noted that during the operation from the starting position to the ending position, the operation of each of the three mechanisms can utilize the assisted driving control method provided in this embodiment.

[0021] The natural stopping distance is related to factors such as the tower crane's mechanical structure, track friction coefficient, and load mass, and can be obtained through on-site measurement and calibration. For example, under no-load conditions, the tower crane mechanism is run stably at the lowest speed, then the power is cut off, and the distance from the cut-off point to the stopping point is measured. Multiple measurements are taken, and the average value is taken as the natural stopping distance.

[0022] Step S2: Starting from the start time of the tower crane mechanism's operation, and at intervals of the fine-tuning cycle duration, determine the first fine-tuning control cycle, and perform speed control operations within the fine-tuning control cycle. The speed control operations include: detecting the actual position and actual speed of the tower crane mechanism at the start of the current fine-tuning control cycle; calculating the distance between the actual position and the endpoint position as the remaining distance; calculating the maximum gear that the tower crane mechanism is allowed to reach within the distance difference between the remaining distance and the natural stopping distance; inputting the actual position and actual speed into a preset Kalman filter to obtain the predicted position and predicted speed of the tower crane mechanism at the start of the next M consecutive fine-tuning control cycles; determining the target gear that the tower crane mechanism needs to adjust to within the current fine-tuning control cycle based on the predicted position and predicted speed; and controlling the tower crane mechanism to remain at the target gear.

[0023] Step S3: Determine the next fine-tuning control cycle and repeat the speed control operation until the latest calculated remaining distance does not exceed the natural coasting distance.

[0024] Step S4: Turn off the power output of the tower crane mechanism so that the tower crane mechanism can naturally decelerate to a stop by relying on friction.

[0025] Specifically, after acquiring the initialization parameters, the control system uses the start time of driving as the starting time of the first fine-tuning control cycle, and sequentially determines each subsequent fine-tuning control cycle according to the calibrated fine-tuning cycle duration. Within each fine-tuning control cycle, speed control is performed. During the speed control operation, if the calculated remaining distance is less than or equal to the natural stopping distance, the power output of the tower crane mechanism is immediately shut off, allowing the tower crane mechanism to naturally decelerate to a stop using friction. The calculated remaining distance can be the distance between the actual position and the destination position, or the distance between any predicted position and the destination position.

[0026] The actual position and velocity detected at the current moment are input into a pre-designed Kalman filter. Based on the system's motion model and the statistical characteristics of measurement noise, the Kalman filter outputs the optimal estimate for the current moment and recursively calculates the predicted position and velocity at the start of each of the next M consecutive fine-tuning control cycles. The number of prediction steps M can be calibrated according to the response delay time of the tower crane mechanism and the duration of the fine-tuning cycle to ensure that the prediction field of view can cover the control delay.

[0027] To ensure the tower crane mechanism can safely decelerate before reaching its destination, it is necessary to calculate the maximum speed that can be achieved within the remaining distance, using the natural stopping distance as a buffer. Optionally, calculating the maximum speed that the tower crane mechanism can achieve within the distance difference between the remaining distance and the natural stopping distance includes: Calculate the distance difference between the remaining distance and the natural stopping distance; Using the deceleration motion of the tower crane mechanism within the distance difference as a constraint, and based on the distance difference, the calibrated speed of the lowest gear of the tower crane mechanism in the initialization parameters, and the acceleration of the tower crane mechanism when it performs deceleration motion, the maximum allowable speed within the distance difference is calculated. Select the highest gear from the various gears of the tower crane mechanism whose calibrated speed is less than or equal to the maximum speed.

[0028] Specifically, this distance difference represents the maximum distance the tower crane mechanism can travel from its current speed to the lowest speed setting, assuming it can naturally come to a stop at its destination. If this distance difference is less than 0, it indicates that a complete deceleration process is not guaranteed, and the power output of the tower crane mechanism should be immediately shut off. When the distance difference is greater than 0, assuming the tower crane mechanism performs uniform deceleration with the calibrated deceleration acceleration, decreasing from an initial speed to the calibrated lowest speed setting, and the deceleration distance is exactly this distance difference, then the maximum speed for this stage can be calculated using the following formula:

[0029] in, This is the maximum permissible speed within that distance difference. This is the rated speed for the lowest gear. This refers to the acceleration of the tower crane mechanism during deceleration. This is the distance difference.

[0030] This embodiment obtains the precise available deceleration distance by subtracting the natural stopping distance from the remaining distance, and calculates the maximum permissible speed within this distance based on a uniform deceleration motion model. This is then mapped to discrete gears, providing a clear upper limit constraint for each control cycle. Regardless of the current remaining distance, the control system can physically ensure that even if the tower crane mechanism is operating at the maximum gear, it can safely reduce to the lowest gear speed within the remaining deceleration distance. After power is turned off, it can accurately reach the destination by relying on natural stopping. This effectively avoids the problem of failing to decelerate to the destination and causing position overshoot due to excessively high gear selection, significantly improving the destination positioning accuracy of multi-gear tower cranes under conditions without active braking.

[0031] Optionally, the initialization parameters further include: calibrated upshift time, calibrated downshift time, upshift duration, downshift duration, acceleration of the tower crane mechanism during deceleration, and acceleration of the tower crane mechanism during acceleration. The calibrated upshift time is the calibrated time to complete one gear increase, the calibrated downshift time is the calibrated time to complete one gear decrease, the upshift duration includes the calibrated upshift time and upshift stabilization time, the upshift stabilization time is the expected duration of continuous operation at the calibrated speed of the upshifted gear, and the downshift duration includes the calibrated downshift time and downshift stabilization time, the downshift stabilization time is the duration of continuous operation at the calibrated speed of the downshifted gear.

[0032] Specifically, a complete upshift duration consists of two phases: first, the specified upshift time, which is the time required from issuing the upshift command until the speed stabilizes at the specified speed of the new gear; and second, the upshift stabilization time, which is the expected time to maintain the specified speed of the upshifted gear. In other words, during upshifting, there is first a dynamic acceleration phase, and then a constant speed maintenance phase after the speed reaches the specified speed of the new gear. For example, when shifting from 2nd to 3rd gear, the specified upshift time is 0.2 seconds, and the upshift stabilization time is 0.3 seconds. This means that after 0.2 seconds, the speed basically reaches the specified speed of 3rd gear, and then it runs at the specified speed of 3rd gear for 0.3 seconds.

[0033] Similarly, a complete downshift duration consists of two phases: first, the calibrated downshift time is used to reduce the speed from the original gear to the calibrated speed of the new gear; then, the downshift stabilization time is entered, during which the gear continues to run at the calibrated speed of the downshifted gear.

[0034] The timing design provided in this embodiment, which involves dynamic adjustment followed by stable maintenance, makes the gear shift process smoother and provides a clear segmented speed change pattern for Kalman filter prediction.

[0035] Optionally, determining the target gear that the tower crane mechanism needs to be adjusted to within the current fine-tuning control cycle based on the predicted position and the predicted speed includes: Calculate the distance between each predicted position and the endpoint position to obtain the remaining distance for each fine-tuning control cycle in the next M consecutive fine-tuning control cycles; When each remaining distance is greater than the natural stopping distance, determine that each of the next M consecutive fine-tuning control cycles falls within the duration of the upshift or downshift. Based on the target stage, determine the expected speed of the tower crane mechanism at the beginning of each of the next M consecutive fine-tuning control cycles. Based on the deviation between the predicted speed and the corresponding expected speed, determine the target gear to be adjusted to in the current fine-tuning control cycle. When any one or more remaining distances do not exceed the natural stopping distance, the power output of the tower crane mechanism is turned off so that the tower crane mechanism can naturally decelerate to a stop by relying on friction.

[0036] Specifically, when determining the target stage, the system uses the constraint of continuing the current control strategy for the next M consecutive fine-tuning control cycles to determine the target stage. The current control strategy is to maintain the current upshift or downshift plan. For example, after completing the full duration of the current gear, if, based on the remaining distance and the maximum gear limit corresponding to the current cycle, it is theoretically still permissible to upshift, the system will follow the same logic and continue upshifting in the next gear switching cycle. Similarly, the same processing is applied to downshifting.

[0037] To determine the target stage for each future cycle, the control system assumes that after the current fine-tuning control cycle, the tower crane mechanism will continue its current control strategy, i.e., continue operating according to the existing gear change plan and calibrated gear duration parameters, without considering potential gear adjustments within the current cycle. Based on this assumption, the system can uniquely and recursively calculate the stage and corresponding expected speed for each future predicted cycle. This expected speed serves as a benchmark reference value for comparison with the Kalman predicted speed; if a significant deviation from the benchmark is detected, the system proactively adjusts the target gear within the current cycle to compensate for potential future deviations. Figure 2 As shown, the horizontal axis represents the remaining distance, and the vertical axis represents the speed. It can be seen that the method of this embodiment can ensure that the tower crane mechanism can automatically complete the smooth driving from the starting point to the end point, and naturally glide to the target point by relying on friction, without the need for manual intervention.

[0038] When the fine-tuning control cycle is within the duration of the upshift, the target stage is within the calibrated upshift time or the upshift duration; when the fine-tuning control cycle is within the duration of the downshift, the target stage is within the calibrated downshift time or the downshift duration. The desired speed is the speed that is expected to be achievable. For example, when the target stage is within the calibrated upshift time, the desired speed of the tower crane mechanism at the initial moment of the future fine-tuning control cycle can be calculated using the actual speed at the beginning of the current fine-tuning control cycle, the cycle difference between a future fine-tuning control cycle and the current fine-tuning control cycle, and the acceleration of the tower crane mechanism during acceleration. When the target stage is within the upshift stabilization time, the calibrated speed of the corresponding gear is used as the desired speed at the initial moment of the future fine-tuning control cycle.

[0039] Optionally, determining the desired speed of the tower crane mechanism at the initial moment of each fine-tuning control cycle in the next M consecutive fine-tuning control cycles based on the target stage includes: If the target stage of a certain fine-tuning control cycle in the future M consecutive fine-tuning control cycles is within the calibration upshift time or the calibration downshift time, the expected speed of the tower crane mechanism at the beginning of the future fine-tuning control cycle is calculated based on the actual speed and the acceleration corresponding to the target stage. If the target stage corresponding to a certain fine-tuning control cycle in the future M consecutive fine-tuning control cycles is within the time of increasing gear stability or the time of decreasing gear stability, the calibration speed of the gear corresponding to the future fine-tuning control cycle will be used as the expected speed of the tower crane mechanism at the beginning of the future fine-tuning control cycle.

[0040] Specifically, the target phase is within the calibrated acceleration time, and the acceleration corresponding to this target phase is the acceleration of the tower crane mechanism when performing acceleration motion; the target phase is within the calibrated deceleration time, and the acceleration corresponding to this target phase is the acceleration of the tower crane mechanism when performing deceleration motion. The formula for calculating the desired speed can use existing acceleration or deceleration formulas, which will not be elaborated here in this embodiment.

[0041] When the target phase is within the stable time of increasing or decreasing gears, the corresponding gear refers to the gear that the tower crane mechanism should be in at the beginning of the cycle, determined recursively. For example, if the current phase is within the stable time of increasing gears from 2 to 3, then the corresponding gear is 3.

[0042] This embodiment strictly distinguishes between dynamic and stable phases in the calculation of expected speeds for each future cycle, employing recursive formulas based on acceleration and constant assignments based on calibrated speeds, respectively. This allows the control system to obtain an expected speed sequence that highly matches the actual physical process of the tower crane. The deviation obtained by comparing the Kalman predicted speed with this sequence accurately reflects external disturbances or model errors, thus providing a reliable basis for adjusting gears in advance.

[0043] Optionally, determining the target gear to be adjusted to within the current fine-tuning control cycle based on the deviation between the predicted speed and the corresponding desired speed includes: With each desired speed as the center and the first preset tolerance threshold as the radius, construct the desired speed range corresponding to each desired speed; If any one or more predicted speeds are higher than the upper limit of the corresponding expected speed range, the target gear to be adjusted to within the current fine-tuning control cycle will be set to one gear lower than the current gear. If any one or more predicted speeds are lower than the lower limit of the corresponding expected speed range, the target gear to be adjusted to within the current fine-tuning control cycle will be set to one gear higher than the current gear. If each predicted speed is within the corresponding desired speed range, set the target gear to be adjusted to within the current fine-tuning control cycle as the current gear.

[0044] Specifically, the lower limit of the desired speed range is the difference between the desired speed and the first preset tolerance threshold, and the upper limit is the sum of the desired speed and the first preset tolerance threshold.

[0045] In the first scenario, the causes might include: downhill wind boost, reduced friction due to decreased load, or excessive acceleration in the previous stage. If left unchecked, the tower crane mechanism may exceed the safe speed range, or overshoot the endpoint due to excessive speed when entering the stopping zone. To prevent excessive speed in advance, the control system sets the target gear to be adjusted to within the current fine-tuning control cycle to be one gear lower than the current gear. For example, if the current gear is 4, the target gear is set to 3. By downshifting in advance, the driving force can be appropriately reduced, allowing the subsequent speed to fall back to the desired range.

[0046] In the second scenario, the predicted speed is significantly slower than the expected speed. Possible reasons include headwinds, increased load, increased track resistance, or insufficient acceleration in the previous phase. Excessive speed leads to longer driving time and may even prevent reaching the necessary speed for the remaining distance, thus affecting subsequent deceleration planning. Therefore, the control system sets the target gear for the current cycle to one gear higher than the current gear, for example, shifting from 3rd to 4th gear, to appropriately increase driving force and improve subsequent speed.

[0047] In the third scenario, the current control strategy ensures that the future speed of the tower crane mechanism closely matches the desired speed, eliminating the need for gear adjustment. Therefore, the target gear remains unchanged.

[0048] In the above comparisons, if both the predicted speed and the predicted speed are above the upper limit and below the lower limit simultaneously—for example, the speed is too high in the second cycle and too low in the third cycle—it can be stipulated that if the predicted speed of any future cycle is higher than the upper limit, a downshift should be prioritized. This is because the safety risks associated with a higher speed are usually more severe than those with a lower speed. In practice, the priority can also be adjusted according to the actual situation.

[0049] This embodiment compares the predicted speed for multiple future cycles with the corresponding desired speed range cycle by cycle, and employs a trigger mechanism that adjusts if one speed deviation is exceeded. This allows the control system to perform gear correction one or more cycles in advance, before the speed deviation significantly affects the current state. This predictive compensation effectively overcomes the large inertia and control delay of the tower crane mechanism, ensuring that the actual speed always closely follows the desired speed curve, thereby improving driving smoothness and endpoint positioning accuracy. Simultaneously, by introducing a tolerance threshold, frequent gear shifts caused by minor noise are avoided, making the control behavior more stable and reliable.

[0050] Optionally, in actual use, the mechanical characteristics of the tower crane mechanism may change slowly due to factors such as wear, load variations, and ambient temperature, resulting in a fixed deviation between the pre-calibrated steady-state speed at each gear and the actual operating speed. To eliminate this deviation and improve the control accuracy during long-term operation, this embodiment also provides a scheme for adaptively correcting the calibrated speed. Therefore, the method further includes: During each operation of the tower crane mechanism, it is determined whether the deviation between the average actual speed of the tower crane mechanism at each gear during the gear increase stabilization time or the gear decrease stabilization time and the corresponding calibrated speed exceeds a second preset tolerance threshold. If the deviation is exceeded, record the deviation event for each gear that exceeds the limit; wherein, the deviation event includes: the gear indicator and the average of the actual speed; The cumulative number of deviation events for each gear is calculated based on the gear position identifier. When the cumulative number of deviation events in any gear exceeds a preset threshold, and the deviation between the average values ​​of any two actual speeds in all deviation events of that gear does not exceed a third preset tolerance threshold, calculate the total average value of the average values ​​of the actual speeds in all deviation events of that gear, and update the calibrated speed of that gear to the total average value.

[0051] Specifically, during each complete operation of the tower crane mechanism—that is, a driving task from start to finish—the control system monitors the actual speed of each gear during the upshifting or downshifting stabilization period. Specifically, for each gear, when the tower crane mechanism enters the stable operating phase of that gear, i.e., after completing the calibrated upshifting / downshifting time and is within the upshifting or downshifting stabilization period, the system records the real-time speed in fine-tuning cycles and calculates the arithmetic mean of these speeds at the end of the stabilization period.

[0052] As the number of runs increases, the control system maintains an independent list of deviation events for each gear. Whenever a new deviation event is recorded, it is added to the event list for the corresponding gear, and the cumulative number of deviation events for that gear is updated. To ensure the reliability of the calibrated speed updates and avoid erroneous corrections due to occasional disturbances such as momentary gusts or brief load fluctuations, the system sets two additional judgment conditions: a frequency condition and a stability condition. This ensures that deviations persist across multiple runs in the same gear, eliminating single, accidental events, and that the observed actual speeds in each run show good consistency, indicating that the deviations are indeed caused by systematic characteristic changes, rather than random fluctuations.

[0053] Through the self-correction process described above, the tower crane control system in this embodiment can automatically adapt to slow time-varying factors such as mechanical wear and load changes during long-term operation, maintaining consistency between the calibrated speed and the actual speed. Compared to a fixed calibration value, this method significantly improves the accuracy of the control model, reduces speed deviations caused by model errors, and thus improves endpoint positioning accuracy and driving smoothness. Simultaneously, through dual verification using both a frequency threshold and a stability threshold, erroneous corrections caused by accidental disturbances are avoided, ensuring the robustness and reliability of adaptive learning.

[0054] Example 2 This invention provides an auxiliary driving control device for a multi-speed tower crane, such as... Figure 3 As shown, the auxiliary driving control device 30 of the multi-speed tower crane specifically includes the following components: The acquisition module 301 is used to acquire the initialization parameters of the tower crane mechanism; wherein, the initialization parameters include: fine-tuning cycle duration, endpoint position and natural stopping distance, wherein the natural stopping distance is the distance that the tower crane mechanism slides to a stop by relying on friction after the power output is turned off when it is running at the lowest gear; Control module 302 is configured to: determine a first fine-tuning control cycle starting from the start time of the tower crane mechanism and at intervals of the fine-tuning cycle duration; and perform speed control operations within the fine-tuning control cycle. The speed control operations include: detecting the actual position and actual speed of the tower crane mechanism at the start of the current fine-tuning control cycle; calculating the distance between the actual position and the endpoint position as the remaining distance; calculating the maximum gear that the tower crane mechanism is allowed to reach within the distance difference between the remaining distance and the natural stopping distance; inputting the actual position and actual speed into a preset Kalman filter to obtain the predicted position and predicted speed of the tower crane mechanism at the start of M consecutive future fine-tuning control cycles; determining the target gear that the tower crane mechanism needs to adjust to within the current fine-tuning control cycle based on the predicted position and predicted speed; controlling the tower crane mechanism to remain at the target gear; determining the next fine-tuning control cycle and repeating the speed control operations until the latest calculated remaining distance does not exceed the natural stopping distance. The power module 303 is used to shut off the power output of the tower crane mechanism so that the tower crane mechanism can naturally decelerate to a stop by relying on friction.

[0055] Optionally, when the control module calculates the maximum gear that the tower crane mechanism is allowed to reach within the distance difference between the remaining distance and the natural stopping distance, it is specifically used to: Calculate the distance difference between the remaining distance and the natural stopping distance; Using the deceleration motion of the tower crane mechanism within the distance difference as a constraint, and based on the distance difference, the calibrated speed of the lowest gear of the tower crane mechanism in the initialization parameters, and the acceleration of the tower crane mechanism when it performs deceleration motion, the maximum allowable speed within the distance difference is calculated. Select the highest gear from the various gears of the tower crane mechanism whose calibrated speed is less than or equal to the maximum speed.

[0056] Optionally, the initialization parameters further include: calibrated upshift time, calibrated downshift time, upshift duration, downshift duration, acceleration of the tower crane mechanism during deceleration, and acceleration of the tower crane mechanism during acceleration. The calibrated upshift time is the calibrated time to complete one gear increase, the calibrated downshift time is the calibrated time to complete one gear decrease, the upshift duration includes the calibrated upshift time and upshift stabilization time, the upshift stabilization time is the expected duration of continuous operation at the calibrated speed of the upshifted gear, and the downshift duration includes the calibrated downshift time and downshift stabilization time, the downshift stabilization time is the duration of continuous operation at the calibrated speed of the downshifted gear.

[0057] Optionally, when the control module performs the step of determining the target gear that the tower crane mechanism needs to be adjusted to within the current fine-tuning control cycle based on the predicted position and the predicted speed, it is specifically used for: Calculate the distance between each predicted position and the endpoint position to obtain the remaining distance for each fine-tuning control cycle in the next M consecutive fine-tuning control cycles; When each remaining distance is greater than the natural stopping distance, determine that each of the next M consecutive fine-tuning control cycles falls within the duration of the upshift or downshift. Based on the target stage, determine the expected speed of the tower crane mechanism at the beginning of each of the next M consecutive fine-tuning control cycles. Based on the deviation between the predicted speed and the corresponding expected speed, determine the target gear to be adjusted to in the current fine-tuning control cycle. When any one or more remaining distances do not exceed the natural stopping distance, the power output of the tower crane mechanism is turned off so that the tower crane mechanism can naturally decelerate to a stop by relying on friction.

[0058] Optionally, when the control module performs the step of determining the desired speed of the tower crane mechanism at the initial moment of each fine-tuning control cycle in the next M consecutive fine-tuning control cycles based on the target stage, it is specifically used for: If the target stage of a certain fine-tuning control cycle in the future M consecutive fine-tuning control cycles is within the calibration upshift time or the calibration downshift time, the expected speed of the tower crane mechanism at the beginning of the future fine-tuning control cycle is calculated based on the actual speed and the acceleration corresponding to the target stage. If the target stage corresponding to a certain fine-tuning control cycle in the future M consecutive fine-tuning control cycles is within the time of increasing gear stability or the time of decreasing gear stability, the calibration speed of the gear corresponding to the future fine-tuning control cycle will be used as the expected speed of the tower crane mechanism at the beginning of the future fine-tuning control cycle.

[0059] Optionally, when the control module determines the target gear to be adjusted to within the current fine-tuning control cycle based on the deviation between the predicted speed and the corresponding desired speed, it is specifically used for: With each desired speed as the center and the first preset tolerance threshold as the radius, construct the desired speed range corresponding to each desired speed; If any one or more predicted speeds are higher than the upper limit of the corresponding expected speed range, the target gear to be adjusted to within the current fine-tuning control cycle will be set to one gear lower than the current gear. If any one or more predicted speeds are lower than the lower limit of the corresponding expected speed range, the target gear to be adjusted to within the current fine-tuning control cycle will be set to one gear higher than the current gear. If each predicted speed is within the corresponding desired speed range, set the target gear to be adjusted to within the current fine-tuning control cycle as the current gear.

[0060] Optionally, the device further includes a correction module for: During each operation of the tower crane mechanism, it is determined whether the deviation between the average actual speed of the tower crane mechanism at each gear during the gear increase stabilization time or the gear decrease stabilization time and the corresponding calibrated speed exceeds a second preset tolerance threshold. If the deviation is exceeded, record the deviation event for each gear that exceeds the limit; wherein, the deviation event includes: the gear indicator and the average of the actual speed; The cumulative number of deviation events for each gear is calculated based on the gear position identifier. When the cumulative number of deviation events in any gear exceeds a preset threshold, and the deviation between the average values ​​of any two actual speeds in all deviation events of that gear does not exceed a third preset tolerance threshold, calculate the total average value of the average values ​​of the actual speeds in all deviation events of that gear, and update the calibrated speed of that gear to the total average value.

[0061] Example 3 This embodiment also provides a computer device, such as a smartphone, tablet computer, laptop computer, desktop computer, rack server, blade server, tower server, or cabinet server (including a standalone server or a server cluster composed of multiple servers), etc., capable of executing programs. Figure 4 As shown, the computer device 40 in this embodiment includes, but is not limited to, a memory 401 and a processor 402 that are communicatively connected to each other via a system bus. It should be noted that... Figure 4 Only a computer device 40 with components 401-402 is shown; however, it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0062] In this embodiment, the memory 401 (i.e., the readable storage medium) includes flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 401 may be an internal storage unit of the computer device 40, such as the hard disk or memory of the computer device 40. In other embodiments, the memory 401 may also be an external storage device of the computer device 40, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the computer device 40. Of course, the memory 401 may include both the internal storage unit and the external storage device of the computer device 40. In this embodiment, the memory 401 is typically used to store the operating system and various application software installed on the computer device 40. In addition, the memory 401 may also be used to temporarily store various types of data that have been output or will be output.

[0063] In some embodiments, processor 402 may be a central processing unit (CPU), controller, microcontroller, microprocessor, or other data processing chip. This processor 402 is typically used to control the overall operation of computer device 40.

[0064] Specifically, in this embodiment, the processor 402 is used to execute the program of the auxiliary driving control method for a multi-level tower crane stored in the memory 401.

[0065] For a detailed description of the above method steps, please refer to Example 1. This example will not be repeated here.

[0066] Example 4 This embodiment also provides a computer-readable storage medium, such as flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, optical disk, server, App application store, etc., which stores a computer program. When the computer program is executed by a processor, it is used to implement the steps of the auxiliary driving control method for multi-level tower cranes.

[0067] For a detailed description of the above method steps, please refer to Example 1. This example will not be repeated here.

[0068] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0069] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0070] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method.

[0071] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. An auxiliary driving control method for a multi-speed tower crane, characterized in that, The method includes: Obtain the initialization parameters of the tower crane mechanism; wherein, the initialization parameters include: fine-tuning cycle duration, endpoint position and natural stopping distance, wherein the natural stopping distance is the distance that the tower crane mechanism slides to a stop naturally by friction after the power output is turned off when it is running at the lowest gear; Starting from the start time of the tower crane's operation, and with intervals of the fine-tuning cycle duration, a first fine-tuning control cycle is determined. Within this cycle, speed control is performed. The speed control operation includes: detecting the actual position and actual speed of the tower crane at the start of the current fine-tuning control cycle; calculating the distance between the actual position and the endpoint position as the remaining distance; calculating the maximum gear the tower crane is allowed to reach within the distance difference between the remaining distance and the natural stopping distance; inputting the actual position and actual speed into a preset Kalman filter to obtain the predicted position and predicted speed of the tower crane at the start of M consecutive future fine-tuning control cycles; determining the target gear the tower crane needs to adjust to within the current fine-tuning control cycle based on the predicted position and predicted speed; and controlling the tower crane to remain at the target gear. Determine the next fine-tuning control cycle and repeat the speed control operation until the latest calculated remaining distance does not exceed the natural coasting distance; The power output of the tower crane mechanism is turned off so that the tower crane mechanism can naturally decelerate to a stop by relying on friction.

2. The auxiliary driving control method for a multi-speed tower crane according to claim 1, characterized in that, The maximum gear that the tower crane mechanism is allowed to reach within the distance difference between the remaining distance and the natural stopping distance includes: Calculate the distance difference between the remaining distance and the natural stopping distance; Using the deceleration motion of the tower crane mechanism within the distance difference as a constraint, and based on the distance difference, the calibrated speed of the lowest gear of the tower crane mechanism in the initialization parameters, and the acceleration of the tower crane mechanism when it performs deceleration motion, the maximum allowable speed within the distance difference is calculated. Select the highest gear from the various gears of the tower crane mechanism whose calibrated speed is less than or equal to the maximum speed.

3. The auxiliary driving control method for a multi-speed tower crane according to claim 1, characterized in that, The initialization parameters also include: calibrated upshift time, calibrated downshift time, upshift duration, downshift duration, acceleration of the tower crane mechanism during deceleration, and acceleration of the tower crane mechanism during acceleration. The calibrated upshift time is the calibrated time to complete one gear increase, the calibrated downshift time is the calibrated time to complete one gear decrease, the upshift duration includes the calibrated upshift time and upshift stabilization time, the upshift stabilization time is the expected duration of continuous operation at the calibrated speed of the upshifted gear, and the downshift duration includes the calibrated downshift time and downshift stabilization time, the downshift stabilization time is the duration of continuous operation at the calibrated speed of the downshifted gear.

4. The auxiliary driving control method for a multi-speed tower crane according to claim 3, characterized in that, The step of determining the target gear that the tower crane mechanism needs to be adjusted to within the current fine-tuning control cycle based on the predicted position and the predicted speed includes: Calculate the distance between each predicted position and the endpoint position to obtain the remaining distance for each fine-tuning control cycle in the next M consecutive fine-tuning control cycles; When each remaining distance is greater than the natural stopping distance, determine that each of the next M consecutive fine-tuning control cycles falls within the duration of the upshift or downshift. Based on the target stage, determine the expected speed of the tower crane mechanism at the beginning of each of the next M consecutive fine-tuning control cycles. Based on the deviation between the predicted speed and the corresponding expected speed, determine the target gear to be adjusted to in the current fine-tuning control cycle. When any one or more remaining distances do not exceed the natural stopping distance, the power output of the tower crane mechanism is turned off so that the tower crane mechanism can naturally decelerate to a stop by relying on friction.

5. The auxiliary driving control method for a multi-speed tower crane according to claim 4, characterized in that, The step of determining the expected speed of the tower crane mechanism at the initial moment of each fine-tuning control cycle in the next M consecutive fine-tuning control cycles based on the target stage includes: If the target stage of a certain fine-tuning control cycle in the future M consecutive fine-tuning control cycles is within the calibration upshift time or the calibration downshift time, the expected speed of the tower crane mechanism at the beginning of the future fine-tuning control cycle is calculated based on the actual speed and the acceleration corresponding to the target stage. If the target stage corresponding to a certain fine-tuning control cycle in the future M consecutive fine-tuning control cycles is within the time of increasing gear stability or the time of decreasing gear stability, the calibration speed of the gear corresponding to the future fine-tuning control cycle will be used as the expected speed of the tower crane mechanism at the beginning of the future fine-tuning control cycle.

6. The auxiliary driving control method for a multi-speed tower crane according to claim 4, characterized in that, The step of determining the target gear to be adjusted to within the current fine-tuning control cycle based on the deviation between the predicted speed and the corresponding expected speed includes: With each desired speed as the center and the first preset tolerance threshold as the radius, construct the desired speed range corresponding to each desired speed; If any one or more predicted speeds are higher than the upper limit of the corresponding expected speed range, the target gear to be adjusted to within the current fine-tuning control cycle will be set to one gear lower than the current gear. If any one or more predicted speeds are lower than the lower limit of the corresponding expected speed range, the target gear to be adjusted to within the current fine-tuning control cycle will be set to one gear higher than the current gear. If each predicted speed is within the corresponding desired speed range, set the target gear to be adjusted to within the current fine-tuning control cycle as the current gear.

7. The auxiliary driving control method for a multi-speed tower crane according to claim 3, characterized in that, The method further includes: During each operation of the tower crane mechanism, it is determined whether the deviation between the average actual speed of the tower crane mechanism at each gear during the gear increase stabilization time or the gear decrease stabilization time and the corresponding calibrated speed exceeds a second preset tolerance threshold. If the deviation is exceeded, record the deviation event for each gear that exceeds the limit; wherein, the deviation event includes: the gear indicator and the average of the actual speed; The cumulative number of deviation events for each gear is calculated based on the gear position identifier. When the cumulative number of deviation events in any gear exceeds a preset threshold, and the deviation between the average values ​​of any two actual speeds in all deviation events of that gear does not exceed a third preset tolerance threshold, calculate the total average value of the average values ​​of the actual speeds in all deviation events of that gear, and update the calibrated speed of that gear to the total average value.

8. An auxiliary driving control device for a multi-speed tower crane, characterized in that, The device includes: The acquisition module is used to acquire the initialization parameters of the tower crane mechanism; wherein, the initialization parameters include: fine-tuning cycle duration, endpoint position and natural stopping distance, wherein the natural stopping distance is the distance that the tower crane mechanism slides to a stop naturally by friction after the power output is turned off when it is running at the lowest gear; The control module is configured to: determine the first fine-tuning control cycle based on the start time of the tower crane mechanism's operation, and at intervals of the fine-tuning cycle duration; and perform speed control operations within the fine-tuning control cycle. The speed control operations include: detecting the actual position and actual speed of the tower crane mechanism at the start of the current fine-tuning control cycle; calculating the distance between the actual position and the endpoint position as the remaining distance; calculating the maximum gear that the tower crane mechanism is allowed to reach within the distance difference between the remaining distance and the natural stopping distance; inputting the actual position and actual speed into a preset Kalman filter to obtain the predicted position and predicted speed of the tower crane mechanism at the start of M consecutive future fine-tuning control cycles; determining the target gear that the tower crane mechanism needs to adjust to within the current fine-tuning control cycle based on the predicted position and predicted speed; controlling the tower crane mechanism to remain at the target gear; determining the next fine-tuning control cycle and repeating the speed control operations until the latest calculated remaining distance does not exceed the natural stopping distance. The power module is used to shut off the power output of the tower crane mechanism, so that the tower crane mechanism can naturally decelerate to a stop by relying on friction.

9. A computer device, the computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it is used to implement the steps of the method according to any one of claims 1 to 7.

Images