Gyroscope-based active anti-rotation stabilizing device for hoisting load

Abstract

The application discloses a kind of active hoisting load anti-rotation stabilizing device based on gyroscope, including monitoring unit, is configured as the original angular velocity signal of real-time output load around vertical axis;Control unit is configured as the rotation angle and angular velocity deviation of load current relative to target orientation after the original angular velocity signal obtained is handled, and the required reverse torque demand value is calculated to output control instruction;Execution unit is configured as the reverse airflow corresponding to the reverse torque demand value of the required reverse torque demand value according to the control instruction rotation;The active hoisting load anti-rotation stabilizing device based on gyroscope, the Z-axis rotation of load is monitored by single-shaft gyroscope, and the required reverse torque demand value is calculated according to rotation angle and angular velocity, and reverse airflow is generated by execution unit rotation, and rotation is quickly inhibited and reverse impact is avoided, and dynamic cancellation rotation and compensation angle deviation are realized stable hoisting of load without the need for attitude adjustment of vehicle.

Description

Technical Field

[0001] This invention belongs to the field of aviation hoisting equipment, rescue equipment and engineering machinery safety technology, and in particular, it is an active hoisting load anti-rotation stabilization device based on a gyroscope. Background Technology

[0002] Currently, there are various technical solutions both domestically and internationally for addressing the rotation problem of hoisted loads. In the field of drones, US patent US20220268377A1 proposes a gimbal stabilization system based on independent propellers, which achieves load stabilization by generating torque through multiple propellers. Chinese company DJI's patent CN112298345A describes a gimbal control method based on gyroscope and accelerometer data for attitude stabilization of specific loads such as cameras. In the field of helicopter hoisting, US patent US20190316578A1 uses passive dampers and mechanical stop devices to reduce rotation. In the tower crane field, traditional methods such as rope guidance systems and mechanical anti-rotation hooks are mainly relied upon.

[0003] In recent years, the academic community has also proposed a variety of control strategies, such as adaptive sliding mode control based on disturbance observers to suppress the swing of UAV loads, and tracking control methods for dual-rotor UAVs based on dual quaternions. These studies are mostly focused on the overall control of the UAV platform, rather than the independent stability of the load end.

[0004] Therefore, the existing technology still has the following drawbacks:

[0005] 1) Traditional mechanical dampers or anti-rotation hooks cannot actively predict and counteract rotation. They can only suppress rotation to a limited extent after it occurs. They are poorly adaptable to sudden airflow disturbances. The response of this passive rotation-counteracting structure is lagging.

[0006] 2) Most solutions require adjusting the attitude of the drone / helicopter to stabilize the payload, which not only affects flight performance but may also cause the vehicle to lose control and cannot be applied to fixed platforms such as tower cranes.

[0007] 3) Most existing load stabilization devices are complex to install and difficult to switch between scenarios, and cannot meet the requirements for quick and stable installation and removal. Summary of the Invention

[0008] Purpose of the invention: To provide an active anti-rotation stabilization device for hoisting loads based on a gyroscope, which is suitable for preventing accidental rotation of loads in hoisting scenarios such as drones, helicopters, and tower cranes.

[0009] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0010] In a first aspect, a gyroscope-based active anti-rotation stabilization device for hoisting loads is provided, comprising:

[0011] The monitoring unit is configured to output the original angular velocity signal of the load about the vertical axis in real time;

[0012] The control unit is configured to process the acquired raw angular velocity signal to obtain the current rotation angle and angular velocity deviation of the load relative to the target orientation, and to calculate the required reverse torque demand value based on the rotation angle and the angular velocity deviation before outputting control commands.

[0013] The execution unit is configured to rotate according to the control command to generate a reverse airflow corresponding to the reverse torque demand value, thereby dynamically offsetting the load rotation and compensating for angular offset.

[0014] The execution unit is either a first stable structure or a second stable structure.

[0015] The monitoring unit, the control unit, and the execution unit are all integrated on the mounting unit, which is detachably connected to the load.

[0016] In some possible embodiments, the monitoring unit includes a single-axis gyroscope that outputs the raw angular velocity signal of the load about the vertical axis in real time at a sampling frequency greater than 100 Hz.

[0017] In a further embodiment, the control unit includes a central controller, the central controller comprising:

[0018] The signal processing module is configured to read the original angular velocity signal, perform zero-bias static calibration, and then filter out high-frequency noise to obtain the real-time angular velocity ω.

[0019] The angle and angular velocity calculation module is configured to perform numerical integration on the real-time angular velocity ω, and combine it with the angle reference that is automatically zeroed at the initial moment of power-on to calculate the current rotation angle θ of the load relative to the target orientation in real time. Then, it calculates the angular velocity deviation Δω using the real-time angular velocity ω and the current rotation angle θ at a preset control frequency in a preset control cycle.

[0020] The preset control period is 10ms, and the preset control frequency is 100Hz;

[0021] Set the target rotation angle θ_ref ≡ 0, where the target rotation angle is the initial orientation in which the desired load is kept without rotation;

[0022] The angular deviation is expressed as follows:

[0023] Δθ = θ_ref − θ;

[0024] Angular velocity deviation is expressed as follows:

[0025] Δω = 0 − ω = −ω;

[0026] In the formula, 0 represents the desired angular velocity;

[0027] The reverse torque calculation module is configured to fuse the rotation angle and the angular velocity deviation to obtain the required reverse torque value, as shown below:

[0028] T_base = Kp · Δθ + Kd · ω

[0029] In the formula, Kp is the proportional gain coefficient and Kd is the differential gain coefficient;

[0030] The instruction output module is configured to output the control instruction to the execution unit based on the reverse torque demand value.

[0031] In a further embodiment, the first stabilizing structure includes a brushless motor, a centrifugal impeller, and an electronic speed controller, wherein the brushless motor is mounted on the mounting unit and electrically connected to the electronic speed controller;

[0032] The centrifugal impeller is connected to the output end of the brushless motor, and the axial direction of the centrifugal impeller is consistent with the vertical axis.

[0033] In a further embodiment, the second stabilizing mechanism includes a brushless motor, a propeller, a telescopic torque rod, and an electronic speed controller. The brushless motor is fixed to one end of the telescopic torque rod, and the other end of the telescopic torque rod is connected to the mounting unit and electrically connected to the electronic speed controller.

[0034] The propeller is mounted on the output end of the brushless motor, and the axial direction of the propeller is perpendicular to the vertical axis.

[0035] The telescopic torque rod's extension length is proportional to the load mass.

[0036] In a further embodiment, the control command is that the brushless motor receives a PWM signal from the electronic speed controller based on the required PWM duty cycle;

[0037] The command output torque value T_cmd, converted from the reverse torque demand value T_base, is then converted into the speed command n and steering command Dir of the brushless motor. Based on the pre-stored aerodynamic characteristic curve, the mapping relationship between speed and torque is expressed as follows:

[0038] T_prop = k_t · n² · sign(Δθ);

[0039] In the formula, k_t is the torque coefficient of the centrifugal impeller or the propeller, and sign(Δθ) determines the forward and reverse rotation of the brushless motor according to the load deviation direction;

[0040] The target speed n_target of the brushless motor is deduced from T_cmd and converted into the PWM duty cycle D required by the electronic speed controller, as shown below:

[0041] D = D_0 + k_pwm · n_target;

[0042] In the formula, D_0 is the zero-speed reference duty cycle, and k_pwm is the speed-duty cycle proportional coefficient.

[0043] In a further embodiment, the reverse torque demand value T_base is converted into the command output torque value T_cmd by an adaptive gain scheduling module, the adaptive gain scheduling module comprising:

[0044] The load level identification module is configured to call the reference values ​​Kp and Kd corresponding to the load level, which are pre-stored in the gain parameter table, based on the identified load mass.

[0045] The online inertia correction module is configured to, based on the acceleration response α of the brushless motor under the load after the application of a standard test pulse, back-calculate the equivalent rotational inertia J_est of the load according to the rigid body rotation equation T_test = J·α, and correct the gain online according to the proportional relationship between J_est and the reference inertia J_0, as shown below:

[0046] Kp = Kp0·(J_est / J_0);

[0047] Kd = Kd0·√(J_est / J_0);

[0048] The amplitude limiting and saturation module is configured to constrain T_base to the interval [T_min, T_max].

[0049] Wherein, T_max is determined by the maximum power of the centrifugal impeller or the propeller and brushless motor, and T_min is the minimum effective torque to overcome static friction.

[0050] In a further embodiment, the control unit further includes a closed-loop iteration module, configured to;

[0051] When |Δθ| < 3° and |ω| < 0.1 rad / s, the load is determined to have entered a stable state, and the brushless motor maintains low-speed standby or fine-tunes its output.

[0052] When |Δθ| > 3° and |ω| > 0.1 rad / s, full-power closed-loop suppression is restored.

[0053] In a further embodiment, the installation unit includes a base, a Velcro strap, and a fastener. The monitoring unit, the control unit, and the execution unit are all disposed on the base. The Velcro strap is connected to the base, and the fastener is provided on the Velcro strap.

[0054] Secondly, a method for active anti-rotation stabilization of hoisting loads based on a gyroscope is provided, the method comprising:

[0055] Obtain the original angular velocity signal of the load about the vertical axis;

[0056] The rotation angle and angular velocity deviation of the load relative to the target orientation are calculated based on the original angular velocity signal.

[0057] The required reverse torque demand value is calculated based on the rotation angle and the angular velocity deviation, and a control command is output to the execution unit. The execution unit rotates to generate a reverse airflow corresponding to the reverse torque demand value, thereby dynamically offsetting the load rotation and compensating for the angular offset.

[0058] The beneficial effects of this invention are as follows: By focusing on monitoring the Z-axis rotation of the load using only a single-axis gyroscope, the amount of data processing, response time, and cost are effectively reduced, and the challenges of multi-sensor calibration are avoided. Through real-time detection of rotation angle and angular velocity deviations by the gyroscope, the central controller calculates the required reverse torque based on the rotation angle and angular velocity. Then, the actuator rotates to generate reverse airflow, quickly suppressing rotation and avoiding reverse impact, dynamically offsetting rotation and compensating for angular offsets. This allows for stable load lifting without requiring attitude adjustments to the carrier. Furthermore, the actuator has two structures to adapt to loads with different moments of inertia. The use of Velcro straps and connecting fasteners not only facilitates quick assembly and disassembly of the device and load but also better adapts to loads of different diameters and shapes, improving practicality. Attached Figure Description

[0059] Figure 1 This is a schematic diagram of the device of the present invention.

[0060] Figure 2 This is a schematic diagram of the first stable structure of the present invention.

[0061] Figure 3 This is a schematic diagram of the second stable structure of the present invention.

[0062] The attached diagram is labeled as follows: 1. Base; 2. Cable ties; 3. Single-axis gyroscope; 4. Central controller; 5. Electronic speed controller; 6. Brushless motor; 7. Centrifugal impeller; 8. Propeller; 9. Telescopic torque rod; 10. Battery and power management module. Detailed Implementation

[0063] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0064] The present invention will be further described in detail below with reference to the accompanying drawings.

[0065] Example 1: Refer to Figure 1 This embodiment discloses an active anti-rotation stabilization device for hoisting loads based on a gyroscope, which includes a monitoring unit, a control unit, and an execution unit.

[0066] The monitoring unit is configured to output the raw angular velocity signal of the load about the vertical axis in real time.

[0067] Specifically, the monitoring unit includes a single-axis gyroscope 3, which outputs the original angular velocity signal of the load around the vertical axis of the suspension rope in real time at a sampling frequency greater than 100 Hz. The vertical axis is the Z-axis, which is the lifting direction of the load on the suspension rope.

[0068] The control unit is configured to process the acquired raw angular velocity signal to obtain the current rotation angle and angular velocity deviation of the load relative to the target orientation, and then calculate the required reverse torque value based on the rotation angle and the angular velocity deviation before outputting a control command. The target orientation is the initial orientation recorded when the device is powered on.

[0069] Specifically, the control unit includes a central controller 4, which includes:

[0070] The signal processing module is configured to read the original angular velocity signal and perform zero-bias static calibration, then filter out high-frequency noise through a first-order low-pass digital filter to obtain the real-time angular velocity ω, with a cutoff frequency of 10–20 Hz.

[0071] Zero bias static calibration involves automatically collecting the average output value under static conditions within 3 seconds after the device is powered on, using it as the zero bias reference, and then subtracting it.

[0072] The angle and angular velocity calculation module is configured to perform numerical integration on the real-time angular velocity ω, and combine it with the angle reference that is automatically zeroed at the initial moment of power-on to calculate the current rotation angle θ of the load relative to the target orientation in real time. Then, it calculates the angular velocity deviation Δω using the real-time angular velocity ω and the current rotation angle θ at a preset control frequency in a preset control cycle.

[0073] The preset control period is 10ms, and the preset control frequency is 100Hz;

[0074] Set the target rotation angle θ_ref ≡ 0, where the target rotation angle is the initial orientation in which the desired load is kept without rotation;

[0075] The angular deviation is expressed as follows:

[0076] Δθ = θ_ref − θ;

[0077] Angular velocity deviation is expressed as follows:

[0078] Δω = 0 − ω = −ω;

[0079] In the formula, 0 represents the desired angular velocity;

[0080] The reverse torque calculation module is configured to fuse the rotation angle and the angular velocity deviation to obtain the reverse torque requirement value;

[0081] The reverse torque requirement value is expressed as follows:

[0082] T_base = Kp · Δθ + Kd · ω

[0083] In the formula, Kp is the proportional gain coefficient, which determines the system's response strength to angular deviation and provides a restoring torque proportional to the deviation angle, used to quickly pull the load back to the target orientation;

[0084] Kd is the differential gain coefficient, which determines the damping strength of the system to changes in angular velocity, providing a damping torque proportional to the rotational speed to suppress overshoot and oscillation;

[0085] Δθ represents the current angular deviation, with the internal unified dimension being rad;

[0086] ω is the real-time angular velocity after filtering, in rad / s; this proportional-derivative coupled architecture constitutes a feedforward-feedback composite control. The proportional term dominates the rapid suppression of the initial rotational deviation, while the derivative term dominates the consumption of rotational kinetic energy and ensures that the damping ratio is stable in the optimal range of 0.7–0.9, thereby shortening the system settling time from 3 seconds to less than 0.8 seconds and controlling the overshoot to less than 2%.

[0087] The instruction output module is configured to output the control instruction to the execution unit based on the reverse torque demand value.

[0088] The execution unit is configured to rotate according to the control command to generate a reverse airflow corresponding to the reverse torque demand value, thereby dynamically offsetting the load rotation and compensating for angular offset.

[0089] The execution unit is either a first stabilizing structure or a second stabilizing structure. Both the first and second stabilizing structures include a brushless motor 6 and a centrifugal impeller 7 or a propeller 8, respectively.

[0090] The monitoring unit, the control unit, and the execution unit are all integrated into the mounting unit, which is detachably connected to the load. The mounting unit allows for rapid installation and removal of different loads within 30 seconds, adapting to various forms such as medical stretchers, supply boxes, and building material packages. No tools are required, and it can be operated by a single person.

[0091] Furthermore, the mounting unit also includes a battery and power management module 10, which supplies power to the monitoring unit, the control unit, and the execution unit. The battery and power management module 10 integrates a lithium polymer battery and supports Type-C fast charging.

[0092] Specifically, the installation unit includes a base 1, a magic cable tie 2, and a fastener. The monitoring unit, the control unit, and the execution unit are all located on the base 1. The magic cable tie 2 is connected to the base 1, and the fastener is provided on the magic cable tie 2.

[0093] Optionally, the Velcro 2 uses industrial-grade high-strength Velcro, and is equipped with a quick-release buckle (not shown in the figure; quick-release buckles are existing and common, and will not be described in detail here), which can adapt to different diameters and shapes of loads.

[0094] Optionally, to protect the relevant components, the device can be integrated into a 3D-printed housing.

[0095] Furthermore, the control unit also includes an adaptive gain scheduling module, comprising:

[0096] The load level identification module is configured to call the reference values ​​Kp and Kd corresponding to the load level, which are pre-stored in the gain parameter table, based on the identified load mass.

[0097] The load mass range is input via buttons on the device or an external communication interface. Three load mass ranges are available: 1–10 kg, 10–50 kg, and 50–100 kg. The central controller retrieves a pre-stored gain parameter table and automatically matches the corresponding Kp and Kd reference values. This gain parameter table is pre-calibrated offline to ensure that the system damping ratio remains between 0.7 and 0.9 at each range.

[0098] The online inertia correction module is configured to, within the first 2–3 seconds after device startup, calculate the equivalent rotational inertia J_est of the load based on the acceleration response α of the brushless motor 6 after the application of a standard test pulse, according to the rigid body rotation equation T_test = J·α. The gain is then corrected online according to the ratio of J_est to the reference inertia J_0 to ensure that loads of different weights have similar dynamic response characteristics, as shown below:

[0099] Kp = Kp0·(J_est / J_0);

[0100] Kd = Kd0·√(J_est / J_0);

[0101] The amplitude limiting and saturation module is configured to constrain T_base to the interval [T_min, T_max].

[0102] Wherein, T_max is determined by the maximum power of the centrifugal impeller 7 or the propeller 8 and the brushless motor 6, and T_min is the minimum effective torque to overcome static friction, preventing the brushless motor 6 from being overloaded or having a control dead zone.

[0103] The adaptive gain scheduling module converts the reverse torque demand value T_base into the command output torque value T_cmd. T_base is the theoretical torque demand obtained through direct calculation, representing the net restoring torque that the control system theoretically needs to apply to pull the load back to the target position and suppress rotational kinetic energy under the current attitude deviation conditions. T_cmd is the actual command torque that is finally output to the electronic speed controller and drives the motor after adaptive gain scheduling, output limiting, inertia correction, and torque-speed mapping. It is an executable controllable quantity after a series of engineering corrections and constraints to T_base.

[0104] Furthermore, the control unit also includes a closed-loop iteration module, configured as follows:

[0105] When |Δθ| < 3° and |ω| < 0.1 rad / s, the load is determined to have entered a stable state, the central controller 4 switches to low power holding mode, and the brushless motor 6 maintains low-speed standby or fine-tunes output;

[0106] When |Δθ| > 3° and |ω| > 0.1 rad / s, an external disturbance is detected, and full-power closed-loop suppression is immediately restored.

[0107] The closed-loop iteration module executes cyclically at a frequency of 100 Hz to form real-time closed-loop control.

[0108] Example 2: Based on Example 1, this example discloses an active anti-rotation stabilization device for hoisting loads based on a gyroscope, referring to... Figure 2 The execution unit is a first stable structure.

[0109] Specifically, the first stabilizing structure includes a brushless motor 6, a centrifugal impeller 7, and an electronic speed controller 5. The brushless motor 6 is mounted on the mounting unit and electrically connected to the electronic speed controller 5.

[0110] The centrifugal impeller 7 is connected to the output end of the brushless motor 6. The axial direction of the centrifugal impeller 7 is consistent with the vertical axis. In order to prevent the suspended load from rotating around the vertical axis, the axial direction of the centrifugal impeller 7 is set to be consistent with the vertical axis, which can generate torque with the vector direction along the vertical axis.

[0111] The diameter is selected according to the inertia of the different loads. The centrifugal impeller is available in three sizes: φ500mm, φ200mm, and φ100mm. Use φ100mm for loads under 10kg, φ200mm for 10-100kg, and φ500mm for loads over 100kg.

[0112] Furthermore, the control command is that the brushless motor 6 receives the PWM signal issued by the electronic speed controller 5 based on the required PWM duty cycle;

[0113] The command output torque value T_cmd, converted from the reverse torque demand value T_base, is then converted into the speed command n and steering command Dir of the brushless motor. Based on the pre-stored aerodynamic characteristic curve, the mapping relationship between speed and torque is expressed as follows:

[0114] T_prop = k_t · n² · sign(Δθ);

[0115] In the formula, k_t is the torque coefficient of the centrifugal impeller 7, and sign(Δθ) determines the forward and reverse rotation of the brushless motor 6 according to the load deviation direction; the torque coefficient of the centrifugal impeller 7 is calibrated by wind tunnel test or CFD simulation.

[0116] The central controller 4 uses table lookup or linear interpolation to inversely solve for the target speed n_target of the brushless motor 6 from T_cmd, and converts it into the PWM duty cycle D required by the electronic speed controller 5, as shown below:

[0117] D = D_0 + k_pwm · n_target;

[0118] In the formula, D_0 is the zero-speed reference duty cycle, and k_pwm is the speed-duty cycle proportional coefficient. Finally, the PWM signal is output from the MCU timer module to the ESC, driving the brushless motor 6 to drive the centrifugal impeller 7 to generate precise reverse aerodynamic torque.

[0119] Example 3: Based on Example 1, this example discloses an active anti-rotation stabilization device for hoisting loads based on a gyroscope, referring to... Figure 3 The execution unit is a second stable structure.

[0120] Specifically, the second stabilizing mechanism includes a brushless motor 6, a propeller 8, a telescopic torque rod 9, and an electronic speed controller 5. The brushless motor 6 is fixed to one end of the telescopic torque rod 9, and the other end of the telescopic torque rod 9 is connected to the mounting unit and electrically connected to the electronic speed controller 5.

[0121] The propeller 8 is mounted on the output end of the brushless motor 6. The axis of the propeller 8 is perpendicular to the vertical axis. This perpendicular arrangement allows the propeller 8 to perform the same function as the tail rotor of a helicopter.

[0122] The telescopic torque rod 9 has a telescopic length that is directly proportional to the load mass. In use, the telescopic torque rod 9 is extended for large loads and shortened for small loads. The specific length can be adjusted on the spot according to the actual situation (angle response speed, whether the torque rod is obstructive, etc.).

[0123] Furthermore, the control command is that the brushless motor 6 receives the PWM signal issued by the electronic speed controller 5 based on the required PWM duty cycle;

[0124] The command output torque value T_cmd, converted from the reverse torque demand value T_base, is then converted into the speed command n and steering command Dir of the brushless motor. Based on the pre-stored aerodynamic characteristic curve, the mapping relationship between speed and torque is expressed as follows:

[0125] T_prop = k_t · n² · sign(Δθ);

[0126] In the formula, k_t is the torque coefficient of the propeller 8, and sign(Δθ) determines the forward and reverse rotation of the brushless motor 6 according to the load deviation direction; the torque coefficient of the propeller 8 is calibrated by wind tunnel test or CFD simulation.

[0127] The central controller 4 uses table lookup or linear interpolation to inversely solve for the target speed n_target of the brushless motor 6 from T_cmd, and converts it into the PWM duty cycle D required by the electronic speed controller 5, as shown below:

[0128] D = D_0 + k_pwm · n_target;

[0129] In the formula, D_0 is the zero-speed reference duty cycle, and k_pwm is the speed-duty cycle proportional coefficient. Finally, the PWM signal is output from the MCU timer module to the ESC, driving the brushless motor 6 to drive the propeller 8 to generate precise reverse aerodynamic torque.

[0130] Example 4: Based on Example 1, this example discloses an active anti-rotation stabilization method for hoisting loads based on a gyroscope. The method includes:

[0131] Obtain the original angular velocity signal of the load about the vertical axis;

[0132] The rotation angle and angular velocity deviation of the load relative to the target orientation are calculated based on the original angular velocity signal.

[0133] The required reverse torque demand value is calculated based on the rotation angle and the angular velocity deviation, and a control command is output to the execution unit. The execution unit rotates to generate a reverse airflow corresponding to the reverse torque demand value, thereby dynamically offsetting the load rotation and compensating for the angular offset.

[0134] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

[0135] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and all such equivalent transformations fall within the protection scope of the present invention.

Claims

1. A gyroscope-based active anti-rotation stabilization device for hoisting loads, characterized in that: include: The monitoring unit is configured to output the original angular velocity signal of the load about the vertical axis in real time; The control unit is configured to process the acquired raw angular velocity signal to obtain the current rotation angle and angular velocity deviation of the load relative to the target orientation, and to calculate the required reverse torque demand value based on the rotation angle and the angular velocity deviation before outputting control commands. The execution unit is configured to rotate according to the control command to generate a reverse airflow corresponding to the reverse torque demand value, thereby dynamically offsetting the load rotation and compensating for angular offset. The execution unit is either a first stable structure or a second stable structure. The monitoring unit, the control unit, and the execution unit are all integrated on the mounting unit, which is detachably connected to the load.

2. The active anti-rotation stabilization device for hoisting loads based on a gyroscope according to claim 1, characterized in that: The monitoring unit includes a single-axis gyroscope, which outputs the original angular velocity signal of the load around the vertical axis in real time at a sampling frequency greater than 100 Hz.

3. The active anti-rotation stabilization device for hoisting loads based on a gyroscope according to claim 1, characterized in that: The control unit includes a central controller, which includes: The signal processing module is configured to read the original angular velocity signal, perform zero-bias static calibration, and then filter out high-frequency noise to obtain the real-time angular velocity ω. The angle and angular velocity calculation module is configured to perform numerical integration on the real-time angular velocity ω, and combine it with the angle reference that is automatically zeroed at the initial moment of power-on to calculate the current rotation angle θ of the load relative to the target orientation in real time. Then, it calculates the angular velocity deviation Δω using the real-time angular velocity ω and the current rotation angle θ at a preset control frequency in a preset control cycle. The preset control period is 10ms, and the preset control frequency is 100Hz; Set the target rotation angle θ_ref ≡ 0, where the target rotation angle is the initial orientation in which the desired load is kept without rotation; The angular deviation is expressed as follows: Δθ = θ_ref − θ; Angular velocity deviation is expressed as follows: Δω = 0 − ω = −ω; In the formula, 0 represents the desired angular velocity; The reverse torque calculation module is configured to fuse the rotation angle and the angular velocity deviation to obtain the required reverse torque value, as shown below: T_base = Kp · Δθ + Kd · ω In the formula, Kp is the proportional gain coefficient and Kd is the differential gain coefficient; The instruction output module is configured to output the control instruction to the execution unit based on the reverse torque demand value.

4. The gyroscope-based active anti-rotation stabilization device for hoisting loads according to claim 3, characterized in that: The first stabilizing structure includes a brushless motor, a centrifugal impeller, and an electronic speed controller. The brushless motor is mounted on the mounting unit and electrically connected to the electronic speed controller. The centrifugal impeller is connected to the output end of the brushless motor, and the axial direction of the centrifugal impeller is consistent with the vertical axis.

5. The gyroscope-based active anti-rotation stabilization device for hoisting loads according to claim 3, characterized in that: The second stabilizing mechanism includes a brushless motor, a propeller, a telescopic torque rod, and an electronic speed controller. The brushless motor is fixed to one end of the telescopic torque rod, and the other end of the telescopic torque rod is connected to the mounting unit and electrically connected to the electronic speed controller. The propeller is mounted on the output end of the brushless motor, and the axial direction of the propeller is perpendicular to the vertical axis. The telescopic torque rod's extension length is proportional to the load mass.

6. The gyroscope-based active hoisting load anti-rotation stabilization device according to claim 4 or 5, characterized in that: The control command is that the brushless motor receives a PWM signal from the electronic speed controller based on the required PWM duty cycle; The command output torque value T_cmd, converted from the reverse torque demand value T_base, is then converted into the speed command n and steering command Dir of the brushless motor. Based on the pre-stored aerodynamic characteristic curve, the mapping relationship between speed and torque is expressed as follows: T_prop = k_t · n² · sign(Δθ); In the formula, k_t is the torque coefficient of the centrifugal impeller or the propeller, and sign(Δθ) determines the forward and reverse rotation of the brushless motor according to the load deviation direction; The target speed n_target of the brushless motor is deduced from T_cmd and converted into the PWM duty cycle D required by the electronic speed controller, as shown below: D = D_0 + k_pwm · n_target; In the formula, D_0 is the zero-speed reference duty cycle, and k_pwm is the speed-duty cycle proportional coefficient.

7. The gyroscope-based active anti-rotation stabilization device for hoisting loads according to claim 6, characterized in that: The reverse torque demand value T_base is converted into the command output torque value T_cmd by the adaptive gain scheduling module. The adaptive gain scheduling module includes: The load level identification module is configured to call the reference values ​​Kp and Kd corresponding to the load level, which are pre-stored in the gain parameter table, based on the identified load mass. The online inertia correction module is configured to, based on the acceleration response α of the brushless motor under the load after the application of a standard test pulse, back-calculate the equivalent rotational inertia J_est of the load according to the rigid body rotation equation T_test = J·α, and correct the gain online according to the proportional relationship between J_est and the reference inertia J_0, as shown below: Kp = Kp0·(J_est / J_0); Kd = Kd0·√(J_est / J_0); The amplitude limiting and saturation module is configured to constrain T_base to the interval [T_min, T_max]. Wherein, T_max is determined by the maximum power of the centrifugal impeller or the propeller and brushless motor, and T_min is the minimum effective torque to overcome static friction.

8. The gyroscope-based active anti-rotation stabilization device for hoisting loads according to claim 7, characterized in that: The control unit further includes a closed-loop iteration module, configured to; When |Δθ| < 3° and |ω| < 0.1 rad / s, the load is determined to have entered a stable state, and the brushless motor maintains low-speed standby or fine-tunes its output. When |Δθ| > 3° and |ω| > 0.1 rad / s, full-power closed-loop suppression is restored.

9. The gyroscope-based active anti-rotation stabilization device for hoisting loads according to claim 1, characterized in that: The installation unit includes a base, a Velcro strap, and a fastener. The monitoring unit, the control unit, and the execution unit are all located on the base. The Velcro strap is connected to the base, and the fastener is provided on the Velcro strap.

10. A method for active anti-rotation stabilization of hoisting loads based on a gyroscope, wherein the active anti-rotation stabilization device for hoisting loads based on a gyroscope as described in any one of claims 1-9 is characterized in that: The method includes: Obtain the original angular velocity signal of the load about the vertical axis; The rotation angle and angular velocity deviation of the load relative to the target orientation are calculated based on the original angular velocity signal. The required reverse torque demand value is calculated based on the rotation angle and the angular velocity deviation, and a control command is output to the execution unit. The execution unit rotates to generate a reverse airflow corresponding to the reverse torque demand value, thereby dynamically offsetting the load rotation and compensating for the angular offset.

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