Lifting posture control method of lifting system, lifting system and intelligent tower crane
Patent Information
- Application Number
- CN202511301558.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-11
- Publication Date
- 2026-10-30
AI Technical Summary
但是，角度调整过程比较难，导致效率也比较低
[0012]在本申请一实施例中，所述吊钩为智能吊钩，所述控制器连接所述智能吊钩；所述智能吊钩用于起吊目标吊物及获取所述目标吊物的吊物重量。
Smart Images
Figure CN123002684A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of construction machinery and equipment technology, specifically to a method for controlling the attitude of a hoisted object in a hoisting system, a hoisting system, and an intelligent tower crane. Background Technology
[0002] Currently, with the development of the construction industry, there are more and more modular buildings and automated hoisting operations. During the hoisting process, it is necessary to adjust the angle of the hoisted object to achieve the alignment or desired placement.
[0003] In existing technologies, adjusting the angle of a suspended object is primarily done manually by pulling the object with a rope to rotate it, followed by manual fine-tuning to achieve alignment. Existing products on the market for adjusting the rotation of suspended objects use multiple fans; by controlling the speed of different fans, air is pushed, creating a reaction force that rotates the object. However, the angle adjustment process is relatively difficult, resulting in low efficiency. Summary of the Invention
[0004] Therefore, this application provides a method for controlling the attitude of a hoisted object, a hoisting system, and an intelligent tower crane, to improve the efficiency of angle adjustment for hoisted objects. The technical solution of this application is as follows: The first aspect of this application provides a method for controlling the attitude of a suspended object in a lifting system. The lifting system includes a suspended object base, a gyroscope, and an angular momentum device. The suspended object base is connected to a hook and is used to support the suspended object. The gyroscope is disposed on the suspended object base, and its initial angular momentum is parallel to the horizontal plane of the suspended object base. The angular momentum device is connected to the gyroscope and is used to adjust the angular momentum direction of the gyroscope. The method for controlling the attitude of the suspended object includes: acquiring the weight of the suspended object and the target rotation angle of the target suspended object supported on the suspended object base; obtaining the target angular momentum of the gyroscope based on the weight of the suspended object; wherein the target angular momentum is perpendicular to the horizontal plane of the suspended object base; obtaining control parameters of the angular momentum device based on the target angular momentum and the target rotation angle; and controlling the angular momentum device to adjust the angular momentum direction of the gyroscope based on the control parameters, so that the target suspended object rotates to the attitude corresponding to the target rotation angle.
[0005] In one embodiment of this application, the angular momentum device includes a driving device for driving the gyroscope to rotate along a target axis, the target axis being parallel to the horizontal plane of the suspended object base; the control parameters include driving torque, driving speed, and driving time; obtaining the control parameters of the angular momentum device based on the target angular momentum and the target rotation angle includes: obtaining the target angle of rotation of the gyroscope along the target axis based on the target angular momentum; and obtaining the driving time and driving speed based on the target rotation angle, the target angle, and the driving torque of the driving device.
[0006] In one embodiment of this application, the angular momentum device includes a driving device for driving the gyroscope to rotate along a target axis, the target axis being parallel to the horizontal plane of the suspended object base; the control parameters include driving torque, driving speed, and driving time; obtaining the control parameters of the angular momentum device based on the target angular momentum and the target rotation angle includes: obtaining the target angle of rotation of the gyroscope along the target axis based on the target angular momentum; and obtaining the driving torque and driving speed based on the target rotation angle, the target angle, and the set driving time.
[0007] In one embodiment of this application, the angular momentum device includes a driving device for driving the gyroscope to rotate along a target axis, the target axis being parallel to the horizontal plane of the suspended object base; the control parameters include driving torque, driving speed, and driving time; obtaining the control parameters of the angular momentum device based on the target angular momentum and the target rotation angle includes: obtaining the target angle of rotation of the gyroscope along the target axis based on the target angular momentum; and obtaining the driving torque and the driving time based on the target rotation angle, the target angle, and the set driving speed.
[0008] In one embodiment of this application, the pushing time includes a forward pushing time and a reverse pushing time; the step of controlling the angular momentum device to adjust the angular momentum direction of the gyroscope according to the control parameters includes: controlling the pushing device to push the gyroscope in a first direction during the forward pushing time according to the pushing speed and the pushing torque; and controlling the pushing device to push the gyroscope in a second direction during the reverse pushing time according to the pushing speed and the pushing torque; wherein the first direction is opposite to the second direction.
[0009] In one embodiment of this application, after the push time has elapsed, the gyroscope returns to the angle of the initial angular momentum.
[0010] In one embodiment of this application, obtaining the target angular momentum of the gyroscope based on the weight of the suspended object and the target rotation angle includes: obtaining the frictional torque of the hook based on the weight of the suspended object and the friction coefficient of the hook; and obtaining the target angular momentum based on the frictional torque and the angular momentum parameters of the gyroscope.
[0011] A second aspect of this application provides a lifting system, including a lifting base, a gyroscope, an angular momentum device, and a controller; the lifting base is connected to a hook and is used to support a lifting object; the gyroscope is disposed on the lifting base, and its initial angular momentum is parallel to the horizontal plane of the lifting base; the angular momentum device is connected to the gyroscope and is used to adjust the direction of the angular momentum of the gyroscope; the controller is connected to the gyroscope and the angular momentum device; the controller is used to execute the above-described lifting attitude control method.
[0012] In one embodiment of this application, the hook is a smart hook, and the controller is connected to the smart hook; the smart hook is used to lift the target object and obtain the weight of the target object.
[0013] A third aspect of this application provides an intelligent tower crane, including a boom and the aforementioned lifting system.
[0014] This embodiment of the application incorporates a gyroscope and an angular momentum device in the base of the lifting system. When the attitude of the target object needs to be adjusted, the weight of the object and the target rotation angle are obtained. The target angular momentum of the gyroscope is obtained based on the weight of the object, and the control parameters of the angular momentum device are obtained based on the target angular momentum and the target rotation angle. Finally, the angular momentum device is controlled according to the control parameters to adjust the direction of the angular momentum of the gyroscope, thereby causing the rotational torque generated by the gyroscope to drive the base and the target object to rotate, so that the target object rotates to the required attitude, thereby improving the efficiency of the angle adjustment of the object. Attached Figure Description
[0015] Figure 1 This is a schematic block diagram of a lifting system provided in an embodiment of this application.
[0016] Figure 2 This is a flowchart illustrating a method for controlling the attitude of a suspended object according to an embodiment of this application.
[0017] Figure 3 This is a schematic block diagram of another lifting system provided in the embodiments of this application.
[0018] Figure 4 This is a flowchart illustrating a method for obtaining control parameters of an angular momentum device according to an embodiment of this application.
[0019] Figure 5 This is a flowchart illustrating the second method for obtaining control parameters of an angular momentum device provided in this application embodiment.
[0020] Figure 6 This is a flowchart illustrating the third method for obtaining control parameters of an angular momentum device provided in this application embodiment.
[0021] Figure 7This is a schematic flowchart of a method for controlling an angular momentum device provided in an embodiment of this application.
[0022] Figure 8 This is a flowchart illustrating a method for obtaining the target angular momentum of a gyroscope, as provided in an embodiment of this application.
[0023] Figure 9 This is a schematic block diagram of the third lifting system provided in the embodiments of this application. Detailed Implementation
[0024] It should be noted that in the embodiments of this application, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or sequence.
[0025] It should also be noted that the methods disclosed in the embodiments of this application or the methods shown in the flowcharts include one or more steps for implementing the method. Without departing from the scope of the claims, the execution order of multiple steps can be interchanged, and some steps can also be deleted.
[0026] Currently, with the development of the construction industry, there are more and more modular buildings and automated hoisting operations. During the hoisting process, it is necessary to adjust the angle of the hoisted object to achieve the alignment or desired placement.
[0027] In existing technologies, the angle adjustment of suspended objects is primarily achieved manually by pulling the object with a rope to rotate it, followed by manual fine-tuning to achieve alignment. Existing products on the market for adjusting the rotation of suspended objects use multiple fans; by controlling the speed of different fans, air is pushed, creating a reaction force that rotates the object. However, the existing fan method makes angle adjustment difficult, resulting in relatively low efficiency.
[0028] This application provides a method for controlling the attitude of a hoisted object, a hoisting system, and an intelligent tower crane, which improves the efficiency of adjusting the angle of the hoisted object.
[0029] Please refer to Figure 1 , Figure 1 This is a schematic block diagram of a lifting system provided in an embodiment of this application. The lifting system 100 includes a load base 110, a gyroscope 120, and an angular momentum device 130.
[0030] In this embodiment, the suspension base 110 is connected to the hook and is used to support the suspended object. A gyroscope 120 is mounted on the suspension base 110, with its initial angular momentum parallel to the horizontal plane of the suspension base 110. An angular momentum device 130 is connected to the gyroscope 120 and is used to adjust the direction of the angular momentum of the gyroscope 120.
[0031] The lifting system 100 can be applied to various construction machinery and equipment, such as tower cranes, truck cranes, crawler cranes, and gantry cranes, etc., without limitation. The lifting base 110 is detachably connected to the hook; for example, the lifting base 110 can be hung on the hook by a wire rope. The gyroscope 120 and the angular momentum device 130 can be housed inside the lifting base 110, and the gyroscope 120 and the angular momentum device 130 are protected by the outer shell of the lifting base 110.
[0032] In some embodiments, the lifting system 100 further includes a controller connected to the gyroscope 120 and the angular momentum device 130, for controlling the gyroscope 120 and the angular momentum device 130, and executing the lifting attitude control method of the embodiments of this application. The controller may be located inside the lifting base 110, and the lifting system 100 also includes a communication module. The controller interacts remotely with a user terminal through the communication module, receiving instructions from the user terminal and providing information feedback to the user terminal.
[0033] Next, combined Figure 1 This application introduces a method for controlling the attitude of a suspended object, as described in an embodiment. Please refer to [link / reference]. Figure 2 Specifically, it includes the following steps: Step S21: Obtain the weight of the target object supported on the base and the target rotation angle.
[0034] In this embodiment of the application, when the target object is lifted by the lifting system, the weight of the target object can be obtained. For example, the weight can be input by the user through a user terminal and obtained by the controller in the lifting base through a communication connection. In some embodiments, the lifting base can also be equipped with a weight detection device. When the target object is placed on the lifting base, the controller can detect the weight of the target object through the detection device.
[0035] The target rotation angle can be input by the user into the lifting system as needed during the lifting process. For example, during the lifting process, the user can also input the target rotation angle through the user terminal. The target rotation angle includes the rotation angle of the target object on the horizontal plane.
[0036] Step S22: Obtain the target angular momentum of the gyroscope based on the weight of the suspended object, wherein the target angular momentum is perpendicular to the horizontal plane of the suspended object's base.
[0037] In this embodiment, after obtaining the weight of the target object, the controller of the lifting system calculates the target angular momentum of the gyroscope based on that weight. The target angular momentum is the vertical component of the gyroscope's angular momentum. When the gyroscope is at its initial angular momentum, the vertical component is zero, and the base of the object is stationary. When the gyroscope's angular momentum changes, the aforementioned target angular momentum is generated. Under the principle of conservation of angular momentum, the base generates a reverse angular momentum that cancels out the target angular momentum, thereby generating a rotational force on the base and causing the target object to rotate.
[0038] It is understood that the weight of the target object and the target angular momentum can be positively correlated; that is, the greater the weight of the target object, the greater the required rotational force, and the greater the required target angular momentum. In some embodiments, the hook has a coefficient of friction; the greater the weight of the target object, the greater the hook friction that hinders its rotation, and the greater the required target angular momentum.
[0039] For example, the controller of the lifting system can calculate the target angular momentum based on the weight of the load, the friction coefficient of the hook, and the required rotational speed, so as to enable the target load to rotate through the target angular momentum. The rotational speed can be preset.
[0040] Step S23: Obtain the control parameters of the angular momentum device based on the target angular momentum and the target rotation angle.
[0041] In this embodiment, after obtaining the target angular momentum, the controller can obtain the control parameters of the angular momentum device based on the target angular momentum and the target rotation parameters. These control parameters may include parameters such as the torque, velocity, and time required to control the gyroscope to output the target angular momentum.
[0042] Step S24: Control the angular momentum device according to the control parameters to adjust the angular momentum direction of the gyroscope so that the target suspended object rotates to the attitude corresponding to the target rotation angle.
[0043] In this embodiment, after obtaining the control parameters of the angular momentum device, the controller of the lifting system can control the angular momentum device to adjust the angular momentum direction of the gyroscope according to the control parameters, thereby causing the target object to rotate to the corresponding posture.
[0044] In some embodiments, an attitude sensor for the target object may be provided in the base of the suspended object to obtain attitude information of the target object, such as the rotation angle of the target object. When it is determined that there is an error between the current attitude and the target attitude, the controller may further adjust the control parameters according to the error and use the adjusted new control parameters to control the angular momentum device so as to finally rotate the target object to the attitude corresponding to the target rotation angle.
[0045] It is understood that, in this embodiment of the application, a gyroscope and an angular momentum device are installed in the base of the lifting system. When it is necessary to adjust the attitude of the target object, the weight of the object and the target rotation angle are obtained. The target angular momentum of the gyroscope is obtained based on the weight of the object. Then, the control parameters of the angular momentum device are obtained based on the target angular momentum and the target rotation angle. Finally, the angular momentum device is controlled to adjust the direction of the angular momentum of the gyroscope based on the control parameters. This causes the rotational torque generated by the gyroscope to drive the base and the target object to rotate, so that the target object rotates to the required attitude, thereby improving the efficiency of the angle adjustment of the object.
[0046] In some embodiments, such as Figure 3 As shown, the angular momentum device 130 includes a driving device 131, which drives the gyroscope 120 to rotate along the target axis 121, thereby generating the aforementioned target angular momentum. The target axis 121 is parallel to the horizontal plane of the suspended base 110. The gyroscope 120 is fixedly connected to the suspended base 110 via the target axis 121 and transmits the rotational torque generated by the conservation of angular momentum through the target axis 121.
[0047] Please refer to Figure 4 , Figure 4 A flowchart illustrating a method for obtaining control parameters of an angular momentum device, provided in this application embodiment, specifically includes the following steps: Step S41: Obtain the target angle of rotation of the gyroscope along the target axis based on the target angular momentum.
[0048] In this embodiment, the angular momentum device includes a driving device for driving the gyroscope to rotate according to a target axis, which is parallel to the horizontal plane of the suspended object base. Control parameters include driving torque, driving speed, and driving time. In some embodiments, the gyroscope can be fixed to the suspended object base via the target axis, allowing the gyroscope to rotate according to the target axis.
[0049] It is understandable that, since the target rotation axis is parallel to the horizontal plane of the suspended object base, when the pushing device drives the gyroscope to rotate according to the target rotation axis, the gyroscope will generate a target angular momentum that is perpendicular to the horizontal plane of the suspended object base. In order to achieve conservation of angular momentum, the suspended object base, which is fixed relative to the gyroscope, will rotate to counteract the target angular momentum, thereby causing the target suspended object to rotate.
[0050] In this system, after obtaining the target angular momentum, the controller of the lifting system can obtain the target angle of rotation of the gyroscope along the target axis based on the target angular momentum, so as to control the pushing device to drive the gyroscope to rotate to the target angle according to the target axis.
[0051] Step S42: Obtain the pushing time and pushing speed based on the target rotation angle, target angle, and pushing torque of the pushing device.
[0052] In this embodiment, after obtaining the target angle from the gyroscope, the controller of the lifting system can determine the pushing time and speed of the pushing device based on the target angle, the target rotation angle of the target object, and the pushing torque of the pushing device. It is understood that the pushing torque can be preset by the user via a user terminal, and the controller calculates the corresponding pushing time and speed based on the preset pushing torque. In some embodiments, the pushing torque of the pushing device can also be a fixed value, which is not limited here.
[0053] Please refer to Figure 5 , Figure 5 A flowchart illustrating the second method for obtaining control parameters of an angular momentum device provided in this application embodiment is shown, specifically including the following steps: Step S51: Obtain the target angle of rotation of the gyroscope along the target axis based on the target angular momentum.
[0054] In this embodiment, the angular momentum device includes a driving device for driving the gyroscope to rotate according to a target axis, which is parallel to the horizontal plane of the suspended object base. Control parameters include driving torque, driving speed, and driving time.
[0055] Step S52: Obtain the pushing torque and pushing speed based on the target rotation angle, target angle, and set pushing time.
[0056] It is understood that the embodiments of this application are similar to... Figure 4 Compared to the illustrated embodiment, the difference lies in that, after obtaining the target angle from the gyroscope, the controller of the lifting system can obtain the pushing torque and pushing speed based on the target angle, the target rotation angle of the target object, and the preset pushing time. That is, the aforementioned pushing time can be preset by the user through a user terminal, and the controller calculates the corresponding pushing torque and pushing speed based on the preset pushing time.
[0057] Please refer to Figure 6 , Figure 6 A flowchart illustrating the third method for obtaining control parameters of an angular momentum device provided in this application embodiment, specifically including the following steps: Step S61: Obtain the target angle of rotation of the gyroscope along the target axis based on the target angular momentum.
[0058] In this embodiment, the angular momentum device includes a driving device for driving the gyroscope to rotate according to a target axis, which is parallel to the horizontal plane of the suspended object base. Control parameters include driving torque, driving speed, and driving time.
[0059] Step S62: Obtain the pushing torque and pushing time based on the target rotation angle, target angle, and set pushing speed.
[0060] It is understood that the embodiments of this application are similar to... Figure 4 Compared to the illustrated embodiment, the difference lies in that, after obtaining the target angle from the gyroscope, the controller of the lifting system can obtain the pushing torque and pushing time based on the target angle, the target rotation angle of the target object, and the preset pushing speed. That is, the aforementioned pushing speed can be preset by the user through a user terminal, and the controller calculates the corresponding pushing torque and pushing time based on the preset pushing speed.
[0061] In some embodiments, the user may also preset two of the control parameters, and the controller may calculate one of the control parameters. For example, the pushing torque and pushing speed are preset or fixed values, and the controller calculates the pushing time.
[0062] In some embodiments, the aforementioned pushing time includes a forward pushing time and a reverse pushing time, such as... Figure 7 As shown, the process of controlling the angular momentum device to adjust the direction of the angular momentum of the gyroscope specifically includes the following steps: Step S71: Control the pushing device to push the gyroscope in the first direction during the positive pushing time according to the pushing speed and pushing torque.
[0063] Step S72: Control the pushing device to push the gyroscope in the second direction during the reverse pushing time according to the pushing speed and pushing torque.
[0064] The first direction is opposite to the second direction. After the push time, the gyroscope returns to the angle of its initial angular momentum.
[0065] It is understandable that when the pushing device is controlled to push the gyroscope in the first direction during the forward pushing time based on the pushing speed and pushing torque, it can generate a clockwise rotational torque on the suspended object's base, thus causing the suspended object to rotate clockwise during the forward pushing time. Then, when the pushing device is controlled to push the gyroscope in the second direction during the reverse pushing time based on the pushing speed and pushing torque, it can generate a counterclockwise rotational torque on the suspended object's base, thus causing the suspended object to gradually stop rotating during the reverse pushing time, eventually bringing the suspended object to a stop after reaching the target rotation angle, and the gyroscope also returning to its initial angular momentum angle.
[0066] In some embodiments, when the target object has not reached the target rotation angle, the first directional pushing and second directional pushing processes can be repeated until the target rotation angle is reached. The forward pushing time and the reverse pushing time can be the same.
[0067] Please refer to Figure 8 , Figure 8 A flowchart illustrating a method for obtaining the target angular momentum of a gyroscope, provided in this application embodiment, specifically includes the following steps: Step S81: Obtain the frictional torque of the hook based on the weight of the load and the friction coefficient of the hook.
[0068] Step S82: Obtain the target angular momentum based on the friction torque and the angular momentum parameters of the gyroscope.
[0069] It is understandable that after the gyroscope generates the target angular momentum, the rotational torque generated by the conservation of angular momentum will exceed the frictional torque of the hook, causing the base of the suspended object and the target suspended object to rotate. The greater the rotational torque, the faster the rotation speed of the base of the suspended object and the target suspended object, and the faster the attitude adjustment of the target suspended object. Therefore, the efficiency of attitude adjustment of the target suspended object can be improved by increasing the target angular momentum.
[0070] In this embodiment, the controller of the lifting system calculates the frictional torque based on the weight and friction coefficient of the lifted object. It can then obtain a rotational torque based on this frictional torque, for example, by adding the frictional torque to a preset torque value. After obtaining the rotational torque, the target angular momentum is obtained based on the rotational torque and the angular momentum parameters of the gyroscope.
[0071] Please refer to Figure 9 , Figure 9 This is a schematic block diagram of a second type of lifting system provided in an embodiment of this application. The lifting system 100 includes a load base 110, a gyroscope 120, an angular momentum device 130, and a controller 140.
[0072] In this embodiment, the suspension base 110 is connected to the hook for supporting the suspended object. A gyroscope 120 is mounted on the suspension base 110, with its initial angular momentum parallel to the horizontal plane of the suspension base 110. An angular momentum device 130 is connected to the gyroscope 120 and is used to adjust the direction of the angular momentum of the gyroscope 120. A controller 140 is connected to the gyroscope 120 and the angular momentum device 130. The controller 140 is used to execute the suspension attitude control method of any of the above embodiments.
[0073] In some embodiments, the hook is a smart hook, and the controller 140 is connected to the smart hook. The smart hook is used to lift the target object and obtain the weight of the target object.
[0074] This application also provides an intelligent tower crane, including a boom and a lifting system according to any of the above embodiments. It is understood that the beneficial effects of the intelligent tower crane and lifting system can be referenced to the beneficial effects of the load attitude control method in the foregoing embodiments, and will not be repeated here.
[0075] This application embodiment also provides a computer storage medium storing a computer program, which, when executed by a processor, causes the processor to execute the above-described method for controlling the attitude of a suspended object.
[0076] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer storage medium or transmitted through the computer storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., digital versatile discs (DVDs)), or semiconductor media (e.g., solid-state disks (SSDs)).
[0077] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks. Unless otherwise specified, the technical features of this embodiment and its implementation can be combined arbitrarily.
[0078] The embodiments described above are merely preferred embodiments of this application and are not intended to limit the scope of this application. Any modifications and improvements made by those skilled in the art to the technical solutions of this application without departing from the spirit of this application should fall within the protection scope defined by the claims of this application.
Claims
1. A method for controlling the attitude of a hoisted object in a hoisting system, characterized in that, The lifting system includes a load base, a gyroscope, and an angular momentum device; the load base is connected to a hook and is used to support the load; the gyroscope is mounted on the load base and its initial angular momentum is parallel to the horizontal plane of the load base. The angular momentum device is connected to the gyroscope and is used to adjust the angular momentum direction of the gyroscope; The method for controlling the attitude of the suspended object includes: Obtain the weight of the target object supported on the suspension base and the target rotation angle; The target angular momentum of the gyroscope is obtained based on the weight of the suspended object; wherein the target angular momentum is perpendicular to the horizontal plane of the suspended object base; The control parameters of the angular momentum device are obtained based on the target angular momentum and the target rotation angle. The angular momentum device is controlled according to the control parameters to adjust the angular momentum direction of the gyroscope so that the target suspended object rotates to the posture corresponding to the target rotation angle.
2. The method for controlling the attitude of a suspended object as described in claim 1, characterized in that, The angular momentum device includes a driving device for driving the gyroscope to rotate according to a target axis, which is parallel to the horizontal plane of the suspended object base; the control parameters include driving torque, driving speed, and driving time. The step of obtaining the control parameters of the angular momentum device based on the target angular momentum and the target rotation angle includes: The target angle of rotation of the gyroscope along the target axis is obtained based on the target angular momentum. The pushing time and the pushing speed are obtained based on the target rotation angle, the target angle, and the pushing torque of the pushing device.
3. The method for controlling the attitude of a suspended object as described in claim 1, characterized in that, The angular momentum device includes a driving device for driving the gyroscope to rotate according to a target axis, which is parallel to the horizontal plane of the suspended object base; the control parameters include driving torque, driving speed, and driving time. The step of obtaining the control parameters of the angular momentum device based on the target angular momentum and the target rotation angle includes: The target angle of rotation of the gyroscope along the target axis is obtained based on the target angular momentum. The pushing torque and the pushing speed are obtained based on the target rotation angle, the target angle, and the set pushing time.
4. The method for controlling the attitude of a suspended object as described in claim 1, characterized in that, The angular momentum device includes a driving device for driving the gyroscope to rotate according to a target axis, which is parallel to the horizontal plane of the suspended object base; the control parameters include driving torque, driving speed, and driving time. The step of obtaining the control parameters of the angular momentum device based on the target angular momentum and the target rotation angle includes: The target angle of rotation of the gyroscope along the target axis is obtained based on the target angular momentum. The pushing torque and the pushing time are obtained based on the target rotation angle, the target angle, and the set pushing speed.
5. The method for controlling the attitude of a suspended object as described in any one of claims 2 to 4, characterized in that, The pushing time includes the forward pushing time and the reverse pushing time; The step of controlling the angular momentum device to adjust the angular momentum direction of the gyroscope according to the control parameters includes: The pushing device is controlled to push the gyroscope in the first direction during the positive pushing time according to the pushing speed and the pushing torque; The pushing device is controlled to push the gyroscope in the second direction during the reverse pushing time according to the pushing speed and the pushing torque; wherein the first direction is opposite to the second direction.
6. The method for controlling the attitude of a suspended object as described in claim 5, characterized in that, After the propulsion time has elapsed, the gyroscope returns to the angle of the initial angular momentum.
7. The method for controlling the attitude of a suspended object as described in claim 1, characterized in that, The step of obtaining the target angular momentum of the gyroscope based on the weight of the suspended object and the target rotation angle includes: The frictional torque of the hook is obtained based on the weight of the suspended object and the friction coefficient of the hook. The target angular momentum is obtained based on the frictional torque and the angular momentum parameters of the gyroscope.
8. A lifting system, characterized in that, The device includes a suspension base, a gyroscope, an angular momentum device, and a controller. The suspension base is connected to a hook and is used to support the suspended object. The gyroscope is mounted on the suspension base and has an initial angular momentum parallel to the horizontal plane of the suspension base. The angular momentum device is connected to the gyroscope and is used to adjust the direction of the angular momentum of the gyroscope. The controller is connected to the gyroscope and the angular momentum device. The controller is used to execute the suspended object attitude control method as described in any one of claims 1 to 7.
9. The lifting system as described in claim 8, characterized in that, The hook is a smart hook, and the controller is connected to the smart hook; The intelligent hook is used to lift the target object and obtain the weight of the target object.
10. An intelligent tower crane, characterized in that, Includes a boom and a lifting system as described in any one of claims 8 to 9.