Lifting device, lifting system, and method for lifting loads

Abstract

Disclosed herein are a lifting device, a lifting system, and a method for lifting a load. The lifting device comprises a frame connectable to a support, a plurality of wire rope systems connected to the frame, the plurality of wire rope systems configured to hold a load relative to the frame, each of the plurality of wire rope systems including a wire rope having an independently adjustable working length, and a plurality of sensors connected to the frame, the plurality of sensors configured to sense at least one parameter of the load.

Description

Technical Field

[0001] This application relates to the field of lifting operations or hoisting operations, and more particularly, to a lifting device, a lifting system, and a method of lifting a load.

Background Art

[0002] Conventional lifting operations / hoisting operations, such as those in pre-fabricated, pre-finished volumetric construction (“PPVC”) and precast constructions, often face problems regarding accuracy, productivity, and cost. Preliminary investigations have shown that a large portion of the time in lifting operations is spent in attempts to position or fit the load into a predetermined position or arrangement. This increases the time required for positioning and assembling the load on-site, adversely affects the productivity of the operation, and raises construction costs.

Summary of the Invention

[0003] According to one aspect, what is disclosed herein is a lifting device. The lifting device includes a frame that can be connected to a support; a plurality of wire rope systems connected to the frame, wherein the plurality of wire rope systems are configured to hold a load with respect to the frame, and each of the plurality of wire rope systems includes a wire rope having an independently adjustable operating length; and a plurality of sensors connected to the frame, wherein the plurality of sensors are configured to detect at least one parameter of the load.

[0004] In various embodiments, the lifting device further includes a mass movably connected to the frame, and in response to moving the mass with respect to the frame, the center of gravity of the frame is displaced to tilt the frame.

[0005] In various embodiments, the lifting device further comprises at least one flywheel gyroscope system connected to a frame, each of which is configured to provide a controllable torque to the frame.

[0006] In another embodiment, a lifting system is disclosed herein. The lifting system comprises: a lifting device; and a controller that signals and communicates with the lifting device, the controller being configured to control the lifting device to independently change each of the three translational degrees of freedom and each of the three rotational degrees of freedom of the load.

[0007] In yet another embodiment, a method for lifting a load is disclosed. The method includes: holding the load to a frame by a plurality of wire rope systems, the frame being connected to a support, and each of the plurality of wire rope systems comprising a wire rope having an independently adjustable working length; receiving input from a plurality of sensors connected to the frame, the plurality of sensors being configured to detect at least one parameter of the load; and independently adjusting the working length of each wire rope based on the input from the plurality of sensors. [Brief explanation of the drawing]

[0008] Various embodiments of this disclosure are described below with reference to the following drawings: [Figure 1] Figure 1 is a perspective view of a lifting system according to various embodiments. [Figure 2] Figure 2 shows another perspective view of the lifting system according to various embodiments. [Figure 3A] Figures 3A and 3B are front views of lifting devices for leveling loads according to various embodiments. [Figure 3B]Figures 3A and 3B are front views of lifting devices for leveling loads according to various embodiments. [Figure 4A] Figures 4A and 4B are side views of lifting devices that horizontally position a load and displace the load vertically according to various embodiments. [Figure 4B] Figures 4A and 4B are side views of lifting devices that horizontally position a load and displace the load vertically according to various embodiments. [Figure 5A] Figures 5A and 5B are side views of lifting devices that displace loads horizontally according to various embodiments. [Figure 5B] Figures 5A and 5B are side views of lifting devices that displace loads horizontally according to various embodiments. [Figure 6] Figure 6 is a side view of a lifting device according to various embodiments. [Figure 7A] Figure 7A is another side view of a lifting device according to various embodiments. [Figure 7B] Figure 7B shows the lifting device shown in Figure 7A, which levels the load. [Figure 7C] Figure 7C shows the lifting device shown in Figure 7A, which displaces the load horizontally. [Figure 8] Figure 8 is a top view of a lifting device having a movable mass body according to various embodiments. [Figure 9] Figure 9 is a schematic diagram of a flywheel gyroscope system according to various embodiments. [Figure 10] Figure 10 is a side view of Figure 9. [Figure 11] Figure 11 shows the operation of the flywheel gyroscope system. [Figure 12A] Figure 12A is a schematic diagram of controllers and user controllers according to various embodiments. [Figure 12B] Figure 12B is a schematic diagram showing the server and client in the controller and user controller shown in Figure 12A. [Figure 13]Figure 13 is an exemplary user interface of a user controller according to various embodiments. [Figure 14] Figure 14 is a flowchart of a control process according to various embodiments. [Figure 15] Figure 15 is a flowchart of a method for lifting a load according to various embodiments. [Figure 16] Figure 16 is a photograph of an exemplary prototype lifting system. [Figure 17A] Figures 17A and 17B show a prototype lifting system and corresponding structural dimensions. [Figure 17B] Figures 17A and 17B show a prototype lifting system and corresponding structural dimensions. [Figure 18A] Figures 18A and 18B show a prototype load and corresponding structural dimensions. [Figure 18B] Figures 18A and 18B show a prototype load and corresponding structural dimensions. [Figure 19A] Figures 19A to 19D are simulations of a lifting system that performs automatic leveling. [Figure 19B] Figures 19A to 19D are simulations of a lifting system that performs automatic leveling. [Figure 19C] Figures 19A to 19D are simulations of a lifting system that performs automatic leveling. [Figure 19D] Figures 19A to 19D are simulations of a lifting system that performs automatic leveling. [Figure 20] Figure 20 is a sensor data plot of the roll angle and pitch angle of a load during an automatic leveling process. [Figure 21] Figure 21 is a photograph of an exemplary moving mass system of the prototype lifting system of Figure 16. [Figure 22] Figure 22 shows the horizontal movement result of the load of Figure 18A using the prototype lifting system of Figure 16. [Figure 23]Figure 23 shows the attitude measurement of the load in Figure 18A after being subjected to multiple forced disturbances. [Figure 24] Figure 24 shows the attitude response of the prototype lifting system in Figure 16 when a disturbance is applied, indicating active stabilization. [Figure 25] Figure 25 shows sensor data plots of the load's movement along the X and Y axes during motion adjustment. [Figure 26] Figure 26 shows the sensor data plots of the roll angle, pitch angle, and yaw angle of the load in Figure 18A during operation adjustment. [Modes for carrying out the invention]

[0009] Detailed explanation The following detailed description is made with reference to the accompanying drawings, which illustrate details and embodiments of this disclosure. Features described in the context of one embodiment may similarly apply to identical or similar features in other embodiments, even if not explicitly described in those other embodiments. Additional and / or combinations and / or substitutions described with respect to features in the context of one embodiment may similarly apply to identical or similar features in other embodiments.

[0010] In the context of various embodiments, the articles "a," "an," and "the" used in reference to features or elements include those referring to one or more of those features or elements.

[0011] In the context of various embodiments, the terms “about” or “approximately” applied to numerical values ​​include both the exact numerical value and a reasonable range of variation that is generally understood in the relevant technical field, for example, within 10% of the specified value.

[0012] The terms "and / or" as used herein include any combination and all combinations of one or more of the related enumerated items.

[0013] The term "wire rope" as used herein may refer to one or more of the non-exclusive examples such as "wire cable," "loading cable," "load cable," "lifting cable," "loading rope," and "lifting rope," as can be understood from the context. Therefore, "wire rope system" refers to a system having one or more wire ropes. The terms "support" or "support point" may refer to a structure / device / module for holding and lifting equipment, such as a crane hook, crane, lifting hook, lifting crane, support structure, fixed crane, crane truck or crane vehicle, lifting point on a vehicle, lifting point on an aircraft, aerial crane, etc.

[0014] The term "position" can generally refer to the location of an object. For example, the position of an object relative to a reference point in three-dimensional (3D) space. In some examples, the position of an object may include the coordinates of the object in three-dimensional (3D) space, such as coordinates (x1, y1, z1).

[0015] The term "orientation" can generally refer to the direction or orientation of an object. For example, an object's orientation may include a reference point, reference line, or reference plane of the object relative to a reference point in three-dimensional (3D) space. In various examples, an object's orientation can be quantified by a vector in 3D space, such as a unit vector [xyz].

[0016] The terms "incline" or "inclined" can generally refer to a slight downward movement or tilt of an object relative to the horizontal. For example, inclination may be a first rotation of the object about a first axis, a second rotation of the object about a second axis, or a combination of both, where the first and second axes are parallel to the horizontal.

[0017] Here, the term “controller” is used to refer in general to any device or component capable of processing such instructions, and may include processors, microprocessors, processing units, multiple processing elements, microcontrollers, programmable logic devices, or any other type of computing device. That is, a controller may be provided by any suitable logic circuit for receiving inputs, processing them according to instructions stored in memory, and generating outputs (e.g., on a memory component or on a display). In this embodiment, the controller may be a single-core processor or a multi-core processor having an addressable memory space. As an example, the controller may be a multi-core, for example, including an 8-core CPU. As another example, it may be a cluster of CPU cores operating in parallel to accelerate computation.

[0018] Lifting or lifting operations in prefabricated finished volume construction ("PPVC") and precast structures often face productivity and cost challenges. In PPVC applications, challenges in PPVC field assembly include high costs, a shortage of cranes for assembling modules, and low productivity in PPVC installation. In PPVC work, a significant portion of operational time is spent fitting PPVC module units / components into the planned arrangement or position for precast module assembly and construction. Therefore, the benefits of precise control, positioning, and orientation control of the load during PPVC field assembly are a driving force.

[0019] Similarly, in other lifting operations such as medical rescue, the rapid and accurate placement of loads, such as medical rescue stretchers, avoids unnecessary delays or complications in rescue operations, saving time in emergencies. It should be understood that the above examples of load applications are not exhaustive and are not limited.

[0020] The present invention provides a lifting system and lifting device for reliable, safe, and efficient lifting operations during the handling and placement of loads. In addition to precise positioning during lifting, the lifting system and device can stabilize the load during the lifting operation. Examples of loads may include containers / cargo, construction materials, and precast modular components, and may include large PPVC modules or modular building units, etc.

[0021] In various embodiments, the lifting system and apparatus can independently adjust and / or stabilize each of the six degrees of freedom (DOF) of the load. For example, the load may be a modular building unit for PPVC. The six degrees of freedom of the load may include three translational degrees of freedom (3T) and three rotational degrees of freedom (3R). The 3T may include (1) vertical movement (lifting / up and down), (2) lateral movement (lateral movement / swaying), and (3) longitudinal movement (forward / backward), and the 3R may include (4) lateral rotation (yawing), (5) longitudinal tilt (pitching), and (6) lateral rotation (rolling). Furthermore, the lifting system and apparatus can automatically level the load during operation, displace / adjust the load horizontally for precise positioning, and stabilize the load during movement.

[0022] To aid understanding but not limit it, various embodiments of the lifting system for lifting a load are described below with reference to the accompanying drawings. Figures 1 and 2 are perspective views of the lifting system 50 and lifting device 100 for lifting a load 60. The lifting system 50 includes a lifting device 100 that signals to a controller 400. In some embodiments, the controller 400 may be configured to control the lifting device to independently change each of the three translational degrees of freedom (3T) and three rotational degrees of freedom (3R) of the load 60. In various embodiments, the controller 400 may wirelessly signal to the lifting device 100. Furthermore, the lifting system 50 may further include a user controller 405 that is located or positioned remotely from the controller 400. The user controller 405 may wirelessly signal to the controller 400. Thus, the user or operator may be located away from the load / lifting system, ensuring the operator's safety. The user controller 405 may be configured to transmit control commands from the user to the controller 400.

[0023] According to various embodiments, the lifting device 100 may include a rectangular frame 102. The frame 102 may be connected to or connectable to a support 80 that provides support / lifting force to the frame 102. In some embodiments, the support 80 may be a movable structure, thereby allowing the frame 102 to be displaced by the movement of the support 80. For example, the support may include a crane hook or a crane mounting part. The lifting device 100 may further include a plurality of wire rope systems 110 connected to the frame. As shown in Figures 1 and 2, the lifting device 100 may include four wire rope systems 110a / 110b / 110c / 110d. The wire rope systems 110a / 110b / 110c / 110d can integrally hold the load 60 with respect to the frame 102 and the support 80.

[0024] In other embodiments, the lifting system or lifting device may include other numbers of wire rope systems, such as two, three, five, six, or eight. In some embodiments, the number of wire rope systems may be determined based on the shape of the load 60 or the number of support points on the load 60. In some embodiments, the frame 102 may generally be polygonal in shape. In some embodiments, the structure of the frame 102 may correspond to the number of wire rope systems. For example, the frame 102 may be triangular in shape for three wire rope systems, pentagonal in shape for five wire rope systems, hexagonal in shape for five wire rope systems, and octagonal in shape for eight wire rope systems.

[0025] In various embodiments, each of the wire rope systems 110a / 110b / 110c / 110d may include wire ropes 112a / 112b / 112c / 112d. In various embodiments, each of the wire rope systems 110a / 110b / 110c / 110d may further include electric winches 114a / 114b / 114c / 114d connected to the frame 102. The electric winches 114a / 114b / 114c / 114d may be configured to independently adjust to displace the load 60 relative to the frame 102, for example, by retracting or unwinding each wire rope 112a / 112b / 112c / 112d. In some embodiments, one or more electric winches 114a / 114b / 114c / 114d may be connected to and positioned at each corner of the frame 102.

[0026] In various embodiments, each wire rope 112a / 112b / 112c / 112d may have an independently adjustable working length (OL). The working length (OL) of each wire rope 112a / 112b / 112c / 112d may be determined by the length of the wire rope between each electric winch 114a / 114b / 114c / 114d and the load 60. Thus, by adjusting each working length, the length of each wire rope between the frame 102 and the load 60 changes. Figures 1 to 4B show various examples of the working lengths (OL) of the wire ropes 112a / 112b / 112c / 112d. In some embodiments, each wire rope 112a / 112b / 112c / 112d may have an working length (OL) that is independently adjustable by each electric winch 114a / 114b / 114c / 114d. In an alternative embodiment, instead of each electric winch 114, an operable spool or operable tension adjustment mechanism may be provided for independently adjusting each working length of the wire rope 112.

[0027] In various embodiments, the lifting device 100 may include one or more movable mass bodies 120 that are movably connected to the frame 102. The mass bodies 120 may be movably connected to the upper surface 102a of the frame 102 or to the upper part of the frame 102. For example, the mass body 120 may be movably connected to the upper surface 102a via a linear stage, track, or rail. Furthermore, the mass body 120 may be displaced or moved relative to the frame 102 using one or more actuators. As the mass body 120 is moved relative to the frame 102, the center of gravity of the frame 102 is displaced and the frame 102 tilts relative to the support 80.

[0028] In various embodiments, the lifting device 100 may further include one or more torque generating systems 130 connected to the frame 102. The torque generating system 130 may be connected to the lower surface 102b of the frame 102 or to the bottom of the frame 102. The torque generating system may be connected to the center of the lower surface 102b. The torque generating system 130 may be configured to integrally apply one or more torques to the frame 102 and the load 60. For example, the torque applied to the frame 102 and the load 60 may be centered on the gravity vector (GV). The torque generating system 130 may be a flywheel gyroscope system or a flywheel-based system. In some embodiments, each flywheel gyroscope system 130 may be configured to apply a controllable torque to the frame 102.

[0029] In various embodiments, the lifting device 100 may also include one or more sensors connected to the frame 102. In various embodiments, one or more sensors may be detachably connected to the load 60. The sensors may be configured to detect or measure parameters of the load 60 and / or parameters of the frame 102. For example, the sensors may measure the position and / or orientation of the load 60. In other examples, the sensors may measure the position and / or orientation of the frame 102. In further examples, the sensors may measure the relative displacement, relative velocity and / or relative acceleration of the load 60 with respect to the frame 102.

[0030] In various embodiments, the lifting device 100 may further include an inclinometer 140 detachably connected to the load 60. The inclinometer 140 may be connected to the bottom of the load 60. The inclinometer 140 may be detachable from the load 60 by various connecting means such as a mechanical catch or magnetic connection. The inclinometer 140 may be configured to detect the inclination of the load 60 with respect to the support 80 or the ground. In some embodiments, the inclinometer may be a two-dimensional inclinometer configured to measure the inclination of the load 60 with respect to the support 80 or the ground along two axes. For example, the inclinometer 140 may be configured to measure a first inclination angle along a first axis 91 and a second inclination angle along a second axis 93. The first axis 91 and the second axis 93 may be orthogonal to each other. The first axis 91 and the second axis 93 may also be orthogonal to the direction of gravity or a third axis 95.

[0031] In various embodiments, the lifting device 100 may further include one or more imaging devices 150, such as cameras. In some embodiments, as shown in Figures 1 and 2, cameras 150a / 150b / 150c / 150d may be connected to each side of the frame 102. Cameras 150a / 150b / 150c / 150d may also be directed towards the load 60 and positioned to capture and provide images of each of the load 60. For example, the images may include top views of each of the load 60 or parts of the load 60. Furthermore, the images may also include the surroundings of the load 60, for example, PPVC construction at site.

[0032] In various embodiments, the lifting device 100 may further include one or more gyro sensors 160a connected to the frame 102. Furthermore, one or more gyro sensors 160b may be connected to the load 60 during the lifting operation. The gyro sensors 160a may be configured to detect the orientation of the frame 102. The gyro sensors 160b may also be configured to detect the orientation of the load 60. In some examples, the gyro sensors 160a / 160b may be fiber optic gyroscope sensors. It may be understood that other sensors or sensor implementations may be adapted to obtain or determine other measurements, such as rotational parameters of the electric winch, wire rope tension measurements, and inclination measurements of the load 60 and / or frame 102.

[0033] Referring to Figure 2, the lifting system 50 and the lifting device 100 may be configured to independently control each of the six degrees of freedom (3T and 3R) of the load 60. For example, the three translational degrees of freedom (3T) may include vertical movement along axis 95 (lifting / up and down), horizontal movement along axis 93 (lateral movement / lateral swing), and longitudinal movement along axis 91 (forward / backward). The three rotational degrees of freedom (3R) may include rotation or swivel 96 (yaw) in the left-right direction around axis 95, rotation or tilt 94 (pitch) in the longitudinal direction around axis 94, and swing 92 (roll) in the left-right direction around axis 91. In various embodiments, two or more combinations of the six degrees of freedom may be controlled simultaneously or sequentially.

[0034] In various embodiments, the controller 140 may control each electric winch 114a / 114b / 114c / 114d to independently adjust each wire rope 112a / 112b / 112c / 112d and move the load 60 relative to the frame 102 or the support 80. In some embodiments, the controller 140 may control each electric winch 114a / 114b / 114c / 114d to independently adjust each wire rope 112a / 112b / 112c / 112d and make the load 60 horizontal relative to the support 80 or the horizontal plane. In some embodiments, the controller 140 may control each electric winch 114a / 114b / 114c / 114d in response to input from one or more sensors, such as the position of the load 60 based on a camera 150 or the tilt of the load 60 from an inclinometer 140.

[0035] The lifting system 50 and lifting device 100 of this disclosure may be configured to automatically level the load relative to a support or the ground, and are suitable for the modular unit installation process. In addition to ensuring that the load is level during the lifting process, the lifting system 50 and lifting device 100 can keep the load level with respect to the horizontal plane even during displacement, such as when the load is lowered or raised for positioning. Furthermore, the controller 400 of the lifting system 400 can accommodate movement, tilting, or displacement of the center of gravity of the frame and / or load by making corresponding adjustments for yaw stabilization and lateral positioning.

[0036] Figure 3A shows a front view of the lifting system 50 / lifting device 100 in various embodiments lifting a load 60. Based on input from sensors such as the camera 150 and the inclinometer 140, the controller 140 can control the electric winches 114a / 114b / 114c / 114d to integrally displace the load 60 from a first position 60a to a second position 60b along the axis 95 (first translational degree of freedom) relative to the frame 102. Furthermore, referring to Figure 3B, based on input from sensors such as the camera 150 and the inclinometer 140, the controller 140 can control the electric winches 114a / 114b / 114c / 114d to rotate the load 60 relative to the frame 102 (first rotational degree of freedom), rotating the load 60 from the first position 60a to the second position 60b and making it horizontal. Subsequently or simultaneously, the controller 140 may control the electric winches 114a / 114b / 114c / 114d to displace the load 60 along the axis 95 from a second position 60b to a third position 60c.

[0037] Figure 4A shows a side view of the lifting system 50 / lifting device 100 lifting a load 60 according to various embodiments. Based on input from sensors such as the camera 150 and the inclinometer 140, the controller 140 can control the electric winches 114a / 114b / 114c / 114d to integrally displace the load 60 along the axis 95 relative to the frame 102 from a first position 60a to a second position 60b. Furthermore, referring to Figure 4B, based on input from sensors such as the camera 150 and the inclinometer 140, the controller 140 can control the electric winches 114a / 114b / 114c / 114d to rotate the load 60 relative to the frame 102 (second degree of rotational freedom), rotating the load 60 from the first position 60a to the second position 60b and making it horizontal. Subsequently or simultaneously, the controller 140 may control the electric winches 114a / 114b / 114c / 114d to displace the load 60 along the axis 95 from the second position 60b to the third position 60c. It can be understood that the displacement and leveling operations shown in Figures 3A to 4B above may be performed sequentially and / or simultaneously, or in combination thereof.

[0038] In various embodiments, to effectively and accurately position, displace, or move the load, the lifting system 50 and lifting device 100 may be configured to impart precise and controlled lateral movement or displacement of the load 60 relative to the support 80. Lateral movement of the load 60 can be enabled by a combination of the moving mass body 120 disclosed in the previous section and a leveling operation by the electric winch 114. Unlike lateral movement by the movement of the support 80, for example, by the operation of a crane, the lifting system 50 and lifting device 100 can move the load 60 laterally with relatively small displacements. Achieving such small displacements can be difficult with respect to conventional crane operations performed by a crane operator. In some examples, the lateral displacement can be up to 200 millimeters, and the positioning resolution may be in the range of 0.5 to 1 millimeter. In other words, the lifting system 50 enables minute lateral displacement of the load 60 with a minimum lateral displacement in the range of 0.5 to 1 millimeter. The lifting system 50 may also include a lateral displacement range from 0.5 to 1 millimeter to 200 millimeters. The displacement range and positional resolution may depend on the weight of the moving mass 120 relative to the total load 60. Furthermore, the lateral movement provided by the lifting system 50 may be controllable and / or compensable, thereby allowing for rapid correction of any positioning errors or excessive lateral movement of the load 60.

[0039] Figures 5A and 5B are side views of various embodiments of a lifting system 50 / lifting device 100 lifting and displacing a load 60 laterally. Figure 5A shows the lifting device 100 and the load in a neutral position supported by a support such as a crane hook 80. In various embodiments, the crane hook 80 may include a plurality of crane cables or leg chains 82 for holding the lifting device 100 and the load 60. For example, the crane hook 80 may include four leg chains 82, each connected to a corner of the frame 203. In the absence of other external forces, the combined center of gravity (CG) of the frame 102 and the load 60 is located along the neutral line (NL). The neutral line (NL) may be formed by the crane hook 80 and the gravity vector (GV). In various embodiments, a mobile mass system may be connected to the frame 102. The mobile mass system may include a mobile mass 120 that is movably connected to the frame 102. The moving mass 120 may move along the first direction 123. The displacement of the moving mass 120 causes a shift in the center of gravity CG of the frame 102 and the load 60, causing the frame 102 to tilt 125. This causes the load 60 to displace, tilt, and / or change in posture. By utilizing this physical phenomenon and combining it with the automatic leveling function described above, the lifting system 50 / lifting device 100 performs a leveling operation on the load 60, controlling, for example, the pitch 94 and roll 92 (see Figure 2) of the load 60, thereby causing lateral movement or lateral displacement (LS) of the load 60 and the frame 102 along the axis 91 (second translational degree of freedom) relative to the support 80. This allows the lifting device 100 to controllly move the load 60 laterally relative to the neutral position, reducing the need for manual pushing and / or pulling of the load 60 by human workers and enabling safe and accurate load placement during the final stage of alignment and installation at the PPVC site. It can be understood that similar lateral displacements of the load 60 may be performed along the axis 93 (third translational degree of freedom) by similar lateral movement operations.

[0040] In various embodiments, the lifting system 50 / lifting device 100 may be configured to provide yaw stabilization and / or yaw control of the frame 102 and the load 60. In other words, the rotation 96 of the frame 102 / load 60 around the axis 95 (see Figure 2) can be controlled, reduced, or eliminated by the lifting system 50 (third rotational degree of freedom). Yaw stabilization or control may be achieved by the flywheel gyroscope system 130 shown in Figures 1 and 2. Based on the conservation of angular momentum and the effect of a “precessing” flywheel gyroscope or a flywheel gyroscope in precession, a controllable moment or torque around the axis 96 may be applied to the frame 102 and therefore to the load 60 via the wire rope 112. In other words, when torque or moment is applied to the frame 102, the yaw of the load 60 is stabilized / controlled based on its connection via the wire rope 112. By controlling each flywheel gyroscope system 130, the yaw of the lifting device 100 and the load 60 can be controlled and stabilized. During operation, the torque generated by yaw stabilization may be used to counteract external influences such as wind and load yaw drift, and may be adapted to cancel out or mitigate the tendency of rotational vibration of the lifting device 100 and the load 60. In other examples, yaw control may be performed to orient the load 60 toward a target position.

[0041] Figure 6 shows an example of a lifting system 50 and lifting device 100 according to various embodiments of the present disclosure. The lifting device 100 may include a moving mass system 120, a flywheel gyroscope system 130, and an automatic leveling system (including an electric winch 114 and a wire rope system 110). The lifting device 100 may also include four sets of wire rope systems, which may be pulley-type wire rope systems 110a / 110b / 110c / 110d. As in the embodiments described above, the wire ropes 112a / 112b / 112c / 112d of the pulley-type wire rope systems 110a / 110b / 110c / 110d may be independently adjusted and controlled by their respective electric winches 114a / 114b / 114c / 114d.

[0042] In various embodiments, each pulley-type wire rope system 110a / 110b / 110c / 110d may include each pulley set 116a / 116b / 116c / 116d connected to the frame 102. Furthermore, pulley sets 56a / 56b / 56c / 56d may be provided connected to the load 60. These pulley sets reduce the tension in the wire ropes 112a / 112b / 112c / 112d and the required mechanical power from each electric winch. In various embodiments, each wire rope 112a / 112b / 112c / 112d starts from each electric winch connected to the corners of the frame 102, passes through a plurality of pulleys connected to either the frame 102 or the load 60, and terminates at a central fixed connection point 103 of the frame 102. Therefore, each wire rope 112a / 112b / 112c / 112d has multiple connection points (pulleys) between the frame 102 and the load 60. The multiple connection points improve robustness and safety during lifting operations. By installing the pulley set, the weight of the load 60 is distributed using multiple pulleys, preventing damage to the load 60 due to large spans between lifting points and reducing the load on each electric winch 114a / 114b / 114c / 114d.

[0043] Figures 7A, 7B, and 7C show a lifting device comprising a plurality of pulley-type wire rope systems. In various embodiments, the lifting device 100 may include sensors such as a rotary encoder 113, a load sensor 118, and an inclinometer 140. In various embodiments, each rotary encoder 113a / 113b / 113c / 113d may be mounted on the respective drum of each electric winch. This allows the rotary encoder 113 to provide a precise signal in real time corresponding to the rotation of the corresponding electric winch. In various embodiments, the load sensors 118a / 118b / 118c / 118d may be connected in series between the frame 102 and each wire rope 112a / 112b / 112c / 112d, so that the load sensors 118a / 118b / 118c / 118d can measure the tension or any slack in each wire rope 112a / 112b / 112c / 112d in real time.

[0044] In various embodiments, the inclinometer 140 may be connected to the load, for example, to the bottom or top of a PPVC module unit. The inclinometer 140 may detect / measure the inclination of the load 60. The inclinometer 140 may be a two-axis inclinometer. Therefore, the measured inclination may include the roll angle around axis 91 (see Figure 2) and the pitch angle around axis 93 (see Figure 2) of the load 60. The inclination measurement result may be transmitted to a controller for leveling control of the load 60.

[0045] In various embodiments, the controller of the lifting system may be a PLC module. Under the control of the PLC module, each electric winch 114a / 114b / 114c / 114d, connected to its respective rotary encoder 113a / 113b / 113c / 113d, can independently adjust the working length of each wire rope 112a / 112b / 112c / 112d. Electric winches 114a / 114b / 114c / 114d, fixed to or connected to each of the four corners of the frame 102, may independently pay out or reel in each wire rope 112a / 112b / 112c / 112d to adjust the working length and tension in each pulley-type wire rope system.

[0046] In various embodiments, the PLC module functions as the central hub for information and calculations related to the lifting system. The PLC module may also be the control hub for performing automatic leveling of the load 60. The PLC module may receive sensor data from sensors, such as the rotation signal of the electric winch drum from a rotary encoder, the tilt angle of the load 60 from an inclinometer 140, or wire rope tension data or tensile force from a load sensor 118. The PLC module may then control the electric winch 114 based on the automatic leveling algorithm and / or the calculation output from the automatic leveling algorithm, thereby leveling the load 60 as shown in Figure 7B. Furthermore, under the control of the PLC module, the moving mass 120 may be actuated or displaced to move the center of gravity of the frame 102 and the load 60 together. Simultaneously with the movement of the center of gravity of the frame 102 and the load 60, leveling adjustments are performed, causing controllable lateral movement of the load 60 as shown in Figure 7C.

[0047] As shown in Figures 7B and 7C, the installation of the pulley set does not affect the operation of each pulley-type wire rope system 110a / 110b / 110c / 110d, and therefore functions such as automatic leveling (Figure 7B), lateral movement (Figure 7C), and yaw stabilization can be maintained. For example, a load 60 such as PPVC may be lowered or displaced downwards while maintaining horizontality, using the configuration of the four pulley-type wire rope systems 110a / 110b / 110c / 110d.

[0048] As disclosed in the previous section, the lateral movement of the load 60 can be caused by shifting the overall center of gravity of the load 60 and the frame 102. To facilitate the shift of the center of gravity, a mass body 120 of considerable size may be movably connected to the frame 102. For example, the mass body 120 may be connected to two orthogonal linear tracks. The moving mass body 120 may be driven along each linear track to a desired position using corresponding linear actuators along each direction of motion. In various embodiments, the larger the mass body used on the tracks, the greater the corresponding lateral movement of the load 60.

[0049] Figure 8 is a top view of a lifting device 100 according to various embodiments. The lifting device 100 may include a mass body 120 that is movable relative to a frame 102. The mass body 120 may be movable along a first direction 123 and a second direction 125. The first direction 123 may be perpendicular to the second direction 125. In various embodiments, the lifting device 100 may include a first linear actuator (not shown) and a first linear track 122 connected to the frame 102. The first linear track 122 may be positioned along the first direction 123 and allow the mass body 120 to move along the first direction 123. Under the operation of the first linear actuator, the mass body 120 can be moved to any position along the first linear track 122. Similarly, in various embodiments, the lifting device 100 may further include a second linear actuator (not shown) and a second linear track 124 connected to the frame 102. The second linear track 124 may be positioned along the second direction 125, allowing the mass 120 to move along the second direction 125. With the second linear actuator in operation, the mass 120 can be moved to any position along the second linear track 124. With both the first and second linear actuators in operation, the mass 120 can move parallel to the main surface 104 of the frame 102. In various embodiments, the mass 120, the linear tracks 122 / 124, and the linear actuators may be positioned above or below the frame 102. This may be done to maintain the lifting device 100 within a range of inclination angles, preferably substantially horizontally. It should be noted that excessive inclination of the frame 102 may reduce the effectiveness of the lifting system / device in changing or moving the lateral position of the load 60 relative to the support 80.

[0050] Figures 9 to 11 show a flywheel gyroscope system 130 for yaw control according to various embodiments of the present disclosure. The flywheel gyroscope system 130 may include a housing 132 connected to a frame 102. The flywheel gyroscope system 130 may include a gimbal axis 134 movable relative to the frame 102 and the housing 132. For example, the gimbal axis 134 may be controllably rotated 134a relative to the housing 132 / frame 102, thereby changing the orientation of the gimbal axis 134 relative to the frame 102. In various embodiments, a flywheel 132 may be rotatably connected to the gimbal axis 134. The flywheel 132 may rotate 132a relative to the housing 132 / frame 102 at a controllable rotational speed.

[0051] In various embodiments, the flywheel 132 may be sized according to the load 60 and / or frame 102. The size of the flywheel 132 may correspond to the torque applied to the frame 102 / load 60. For example, the flywheel 132 may be relatively large and heavy to provide yaw control for a heavy load 60 and / or frame 102. In other examples, the flywheel 132 may be relatively small and lightweight to provide yaw control for a lighter load 60 and / or frame 102. In various embodiments, the flywheel 132 may be rotatably mounted on a single gimbal axis. The flywheel 132 and gimbal may be mounted either above or below the frame 102.

[0052] In some embodiments, the rotation axis 132a of the gimbal axis may be perpendicular to the yaw axis 95 of the payload 60 (see Figure 2). The torque generated by the flywheel 132 and gimbal axis 134 for yaw stabilization / control may correspond to the attitude of the rotating flywheel 132. For example, at the same rotational speed, the torque may be maximum when the flywheel 132 is perpendicular to the ground and minimum when it is horizontal, i.e., parallel to the ground. Figure 10 shows the flywheel at an offset angle.

[0053] In various embodiments, the rotational speed of the flywheel 132 and the attitude of the gimbal axis 134 may be actively driven and controlled independently. The rotational speed or angular velocity of the flywheel 132 may be large enough to generate a fairly large angular momentum for generating torque on the frame 102 for yaw stabilization / control. For example, the rotational speed of the flywheel 132 may be in the range of 2000 to 3000 revolutions per minute (RPM). In various embodiments, the rotational speed of the flywheel 132 may be controlled to maintain a target or predetermined rotational speed. The angular momentum of the flywheel 132 may be converted into yaw stabilization torque by the operation / movement of the gimbal axis. Thus, the torque applied to the frame 102 can be controlled by independently controlling the rotational speed of the flywheel 132 and the attitude of the gimbal axis 134, respectively.

[0054] In various embodiments, one or more gyro sensors may be connected to the frame and / or the payload and provided to reliably provide the respective yaw angles / yaw positions of the payload and / or the frame. When the yaw angle of the payload changes, the flywheel gimbal axis may rotate responsively to generate a compensatory torque. Referring to Figure 11, the angular momentum of the flywheel may be converted into torque around the yaw direction by moving or rotating the gimbal axis. Based on gyro sensor feedback from at least one gyro sensor, the flywheel gyroscope system may provide a counteracting torque to the lifting device / payload if the payload begins to shift position due to disturbances such as wind.

[0055] Figures 12A and 12B are schematic diagrams of the controller 400 and their respective communication channels / communication modes in various embodiments of the lifting system. The controller 400 may include a main controller 410 connected to frame 102 to receive control signals from a remote user controller 405 via a wireless connection, for example, via a Wi-Fi connection. Furthermore, the main controller 410 may communicate with subcontrollers such as a leveling controller 420, a moving mass controller 430, and a gyroscope controller 440. The subcontrollers 420 / 430 / 440 may communicate with the main controller 410 via a wired or wireless connection, i.e., Ethernet or Wi-Fi.

[0056] In various embodiments, the lifting system may include a Wi-Fi router for providing a local wireless network. The user controller 405, main controller 410, leveling controller 420, moving mass controller 430, and gyroscope controller 440 may communicate and transfer data based on the TCP / IP (Transmission Control Protocol / Internet Protocol) protocol over the local wireless network. The load sensor 118 and gyro sensor may output their respective sensor data to the leveling controller 420 and gyroscope controller 440, respectively, via RS232 communication ports. Furthermore, an inclinometer 140 connected to the load may transmit sensor data directly to the leveling controller 420 via Wi-Fi. The main controller 410, leveling controller 420, and moving mass controller 430 may be connected to the same local network via Ethernet to minimize communication time delay.

[0057] In various embodiments, the lifting system may include an industrial PC for system integration, facilitating effective communication between the main controller 410, various sub-controllers 420 / 430 / 440, and the user. In some embodiments, the TCP / IP model may be selected as a widely used industry standard model; however, other communication protocols may also be used. TCP / IP includes a set of communication protocols used to interconnect network devices on the internet or within a private computer network. TCP / IP uses a client-server communication model in which a user or machine (client) receives services such as data reception from other computers (servers) within the network. As shown in Figure 7B, the industrial PC, i.e., the main controller 410, may be programmed to operate as a TCP server, while the leveling controller 420, moving mass controller 430, gyroscope controller 440, and user / operator may operate as clients.

[0058] One of the features of the aforementioned multithreaded TCP server lies in its client processing based on the respective roles of each user. The roles of clients can be further classified into two categories: subcontrollers and users. In various embodiments, there may be three types of subcontrollers: a leveling controller 420, a moving mass controller 430, and a gyroscope controller 440, and there may be two types of users: an administrator user and a regular user. Figure 13 shows an example of the user interface (UI) of the user controller 405.

[0059] In various embodiments, the subcontroller may include the following main tasks: 1. Send sensor data / task update information to the server. 2. Receiving commands from the server. 3. Notify the server of your current status.

[0060] In various embodiments, the role of the administrator user includes the following tasks: 1. Send a command. 2. Receive sensor data and progress update information from the server.

[0061] Furthermore, in contrast to administrator users, the role of a regular user is limited to tasks such as receiving sensor data and progress updates from the server.

[0062] In various embodiments, the following safety precautions may be considered when configuring the main controller program: 1. To ensure safe working procedures, only one administrator user may be authorized at any given time. Multiple regular users may be permitted to provide real-time updates regardless of their location. 2. For commands that require a certain amount of time to execute, the target controller system will be locked until the current execution is complete. During the lock period, only commands related to "stop" and status checks may be sent. Other commands will be ignored by the server, and a warning will be issued to the administrator user. 3. Emergency stop may be implemented, and it may be ensured that each subcontroller is set to the safest operating mode when a command is sent / issued. 4. The status of all clients may be closely monitored throughout the entire process, and any abnormal conditions detected will be addressed immediately.

[0063] In various embodiments, the automatic leveling process may be performed / operated as a continuous process and / or a one-time process controlled by an operator. Referring to Figure 14, the overall control process may include three stages or phases, namely: sensor input, decision-making, and action execution. First, the control input may be obtained from a) a two-axis inclinometer connected to the load, such as a module unit, which provides the roll angle and pitch angle, and b) four load sensors connected to each wire rope / cable, which measure the tension in the four wire ropes.

[0064] Based on sensor input, if any wire rope is slack, the working length of that wire rope may be adjusted. Leveling or angle adjustment of the load may only be performed when all wire ropes / cables are under tension. The electric winch may perform adjustments or operations based on controller outputs / commands for cable adjustment and angle adjustment. Subsequently, short time intervals or pauses may be provided to ensure that all electric winches are not operating and that the lifting system becomes stationary from the vibration state caused by the stop. In various embodiments, the time interval / pause may be optimized based on the type of adjustment, i.e., cable adjustment or angle adjustment. Subsequently, the control loop controls the roll threshold angle (α r ) and pitch threshold angle (αp ) may continue until both of the above conditions are met. The cable adjustment algorithm and the load adjustment algorithm are shown in the following pseudocode: Cable adjustment algorithm: TIFF2026511126000002.tif114153

[0065] Angle adjustment algorithm: TIFF2026511126000003.tif189160

[0066] Note: 1) α roll and α pitch These are the respective threshold angles for the leveling algorithm to converge. 2) Cable slack: All cables may have a minimum tension to avoid cable slack. 3) Precision winch operation: This is implemented by a customized winch equipped with a rotary encoder and PLC control.

[0067] In various embodiments, the process of lateral shifting of the load can be described as follows: The moving mass may be driven by a linear actuator. The control of the linear actuator may include the following considerations: Firstly, the linear actuator may be configured to provide a smooth motion trajectory, i.e., gradual starting and stopping of the mass, thereby minimizing or preventing vibration or shock. Secondly, each linear actuator may be equipped with position control, thereby allowing the moving mass to move / shift from any position along the linear track to other positions along the linear track. Thirdly, the control system may be able to receive desired position commands, thereby allowing the desired position to be integrated into the controller / control system of the lifting system. In various embodiments, the sensor feedback provided for the control of the moving mass may be linear encoder readings from each linear actuator, which can be directly translated into the linear position of the mass along the respective track.

[0068] In various embodiments, the process of yaw stabilization or yaw control of the frame / load can be described as follows: Yaw stabilization / control of the lifting system may rely on rotational encoder feedback from a flywheel gyroscope system to maintain a target rotational speed, i.e., RPM. Furthermore, rotational encoder feedback with respect to gimbal axis actuation may also be used to control both the position and velocity of the gimbal axis. The gimbal axis motion may be limited so that the flywheel does not rotate more than ±90 degrees (assuming the vertical position is 0 degrees).

[0069] In various embodiments, to improve the efficiency of the lifting system on site or in the field, the lifting system may be designed to better perform operations that are normally performed manually by construction workers. The lifting system may perform the designed procedures corresponding to each step of actual conventional field work with improved efficiency. Table 1 shows the proposed operating procedures.

[0070] [Table 1]

[0071] The operating procedure for horizontal adjustment utilizes a coordinated electric winch, a moving mass, and a gyroscope system. It is noteworthy that while the movement of the moving mass can alter the attitude of the lifting system, the automatic leveling system and yaw stabilization system can be used to maintain the attitude of the lifting device / load, enabling a stable posture. For example, if the mass moves toward one side of the frame, both the frame and the load may tilt to that side. In this process, the electric winch can automatically adjust the operating length of each wire rope to minimize the tilt angle. Simultaneously, the gyroscope system can perform yaw control to maintain the yaw angle of the frame / load.

[0072] In another aspect of the present disclosure, Figure 15 shows a method 700 for lifting a load. The method 700 may include, in 710, holding the load to a frame by a plurality of wire rope systems, the frame being connected to a support, and each of the plurality of wire rope systems comprising a wire rope having an independently adjustable working length; in 720, receiving input from a plurality of sensors connected to the frame, the plurality of sensors being configured to sense at least one parameter of the load; and in 730, independently adjusting the working length of each wire rope based on the input from the plurality of sensors. In various embodiments, the method 700 may further include leveling the load by independently adjusting the respective working length of each wire rope.

[0073] In various embodiments, method 700 may further include, in 740, moving a mass relative to the frame to displace the frame's center of gravity and tilt the frame; and independently adjusting the operating length of each wire rope to displace the load laterally relative to the support. In various embodiments, method 700 may further include, in 750, applying a controllable torque to the frame by independently controlling the rotational speed of the flywheel and the attitude of the gimbal axis relative to the frame.

[0074] Figure 16 shows an exemplary lifting system and apparatus. To achieve more assembly advantages, such as fine-tuning control, reduced installation time and human resources, an automatically controllable intelligent lifting frame has a subsystem or sub-function for stabilizing and controlling the posture of the lifted modular construction unit in all six degrees of freedom. As an example, the mechanical subsystem may include a steel lifting frame, a modular construction unit, and a four-pulley wire rope system. The steel lifting frame, lifted by a four-legged chain under the crane hook, is fabricated to lift and hold the modular construction unit using pulleys and wire ropes. To achieve the proposed features, the frame also functions as a platform for mounting equipment including a winch, a moving mass body, a gyroscope system, and other related accessories. Furthermore, the exemplary lifting system / lifting apparatus includes three types of sensors positioned in the lifting system to monitor posture information and provide data input for different control systems. These sensors include an inclinometer, a load sensor, and a fiber optic gyroscope. The inclinometer is mounted on the crane load, while the load sensors are mounted in series with each cable set. The fiber optic gyroscope is mounted on the lifting frame and the crane load. Furthermore, controllers and subcontrollers are provided to realize core system functions controlled by the corresponding controller / subcontroller. For example, four electric winches may be used for automatic leveling, two linear actuators may be used for lateral adjustment, and a flywheel with active gimbal axis control may be used for yaw stabilization and control.

[0075] 1-ton prototype aircraft and experiment As shown in Figures 17A, 17B, 18A, and 18B, a scaled-down prototype of the lifting device / frame was constructed. The prototype lifting device included multiple onboard subsystems and modules, such as an automatic electric winch, a flywheel gyroscope system, a moving mass, and various sensors. The entire lifting frame system weighed approximately 1 ton, including a 1-ton simulated load. The frame was fabricated with dimensions of 2.9 meters in length and 1.1 meters in width. See Figure 1 for details. This prototype was used to verify the various functions of the onboard subsystems.

[0076] Feature 1: High-speed and high-precision automatic leveling of the load (modular construction units) The simulation of the automatic leveling process is shown in Figures 19A to 19D, where Figures 19A and 19B show the initial state of the inclined load; Figure 19C shows the load in a leveled state; and Figure 19D shows the leveling process.

[0077] Experiments were conducted to verify the concept and performance of the automatic leveling function. The experiments included three typical scenarios with different inclination angles (large, medium, and small), and the results from these experiments are given in Table 2. Figure 20 shows sensor data plots of roll angle and pitch angle measured during the automatic leveling process. The results in Table 2 demonstrate that the automatic leveling of the load for the prototype lifting system can effectively and efficiently handle various inclination conditions. It is also noteworthy that the automatic leveling time for large pitch or roll angles is within 13 seconds.

[0078] [Table 2]

[0079] Feature 2: Fine lateral adjustment in modular construction units Figure 21 shows an exemplary lifting system with a moving mass body. The moving mass body system may include a movement range of 2.07 meters in the X-axis direction and 0.52 meters in the Y-axis direction. The moving mass body system can move the mass body across the entire X-axis and Y-axis ranges.

[0080] Figure 22 shows the results of the lateral shift of the load for the prototype lifting system, with a total X-axis displacement of 35 mm (+ / - 17.5 mm when moving from the center) and a total Y-axis displacement of 200 mm (+ / - 100 mm when moving from the center).

[0081] Feature 3: Yaw stabilization of the load Figure 23 shows the attitude measurement of a load subjected to multiple external forces using an onboard gyro sensor. Yaw stabilization, such as that performed by a lifting system, can be seen as generating a counter-torque to mitigate external disturbances using a flywheel gyroscope system. In the experiment, a rotating flywheel was rotated around the gimbal axis to generate a torque to stabilize the lifting system and the load along the yaw axis. Using onboard sensors, the control system monitors the yaw angle or position and angular velocity of the frame and load, and operates to reduce or eliminate any unwanted movement around the yaw axis. Figure 24 shows an exemplary attitude response of active stabilization when a disturbance occurs in the system.

[0082] Feature 4: Integrated control of 6 degrees of freedom in the load. Experiments were conducted in multiple scenarios to demonstrate the proposed lifting system's ability to control the motion of the load while simultaneously maintaining its stable orientation. Figure 25 shows sensor data plots of the load's motion along the X and Y axes during motion adjustment. It can be seen that the motion along both directions is well controlled without large / abrupt fluctuations. Figure 26 shows sensor data plots of the load's roll angle, pitch angle, and yaw angle during motion adjustment. Similarly, it can be seen that the roll angle, pitch angle, and yaw angle are stabilized by the lifting system during motion, and the angular deviation decreases over time.

[0083] In various embodiments, the lifting system includes automatic leveling, lateral adjustment, and yaw stabilization, thereby enabling adjustment, stabilization, and control of all six degrees of freedom of the intended load, such as a lifted modular construction unit. This contributes to higher efficiency and precision in on-site assembly and construction compared to conventional on-site construction. The lifting system was tested with a 1-ton prototype and satisfactory results were obtained.

[0084] Lifting systems and devices can be used to lift, move, and stabilize modular construction units, such as precast modular components including large PPVC modules, during lifting operations. Lifting systems and devices can enable a rapid and highly accurate automated leveling process for modular construction units. By improving efficiency and reducing personnel requirements, lifting systems / devices significantly reduce leveling time compared to conventional manual processes.

[0085] Furthermore, the lifting system and lifting device can perform precise lateral adjustments in modular construction units. Lateral adjustment is a crucial function because the minute lateral movement tolerances required in on-site precast construction assembly are difficult, and in some cases nearly impossible, with current crane control systems. This function provides fine lateral adjustments or displacements (with a resolution of 0.5 to 1 millimeter) to the modular unit as the load approaches the target position. In contrast, current tower cranes can only perform relatively large-scale lateral adjustments (minimum adjustment of 0.5 meters) for loads constrained by trolley accuracy and load sway.

[0086] Furthermore, lifting systems and devices can perform yaw stabilization or yaw control on modular construction units. Yaw stabilization can keep a lifted unit stable along the yaw axis (in the direction of gravity), making it resistant to wind and disturbances, which was traditionally done by workers pulling or dragging the load. Therefore, yaw stabilization can improve safety during lifting / hoisting operations and reduce potential worker injuries (falls, collisions, etc.) during the assembly process.

[0087] Furthermore, the lifting system and apparatus can perform integrated control of all six degrees of freedom in the lifted modular construction unit. This allows the lifting system / apparatus to independently control each degree of freedom of the load unit during the lifting / hoisting operation. For example, lateral adjustment can be achieved by simultaneously moving a counterbalance mass, complementing automatic leveling and yaw stabilization for efficient operation.

[0088] This lifting system and lifting device may have the following non-limiting advantages for on-site construction applications: 1.6 Stabilization and control of crane loads in all degrees of freedom. 2. Safety of crane loads during load movement / final installation. 3. Automatic leveling and yaw stabilization minimize the possibility of twisting or tilting that would otherwise be unnecessary. 4. Remote control of the crane load's position and orientation eliminates the need for physical manipulation of the tagline or load before it is placed in its final position. 5. Reduction of personnel for managing crane loads: 5.1 Reduce the number of workers required for the initial load leveling stage. 5.2 Reduce the number of workers required for the final installation stage. 6. Reduce the time required for initial leveling of precast construction assembly. 7. Automatic leveling eliminates the need for manual, trial-and-error methods of leveling precast construction assemblies. 8. Minimize or reduce the need for repeated installation tests, which can often be required due to the trial-and-error nature of leveling and positioning in some applications of precast construction assemblies. 9. Onboard sensors with load position and attitude feedback minimize the number of installation attempts. In ideal conditions, only one test installation would be required, and the final installation would be achieved on the second attempt.

[0089] All examples described herein, whether of apparatus, methods, materials, or products, are provided for illustrative and explanatory purposes only and are not intended to be limiting or exhaustive. Those skilled in the art may modify these examples without departing from the scope of the claims.

Claims

1. A lifting device, A frame that can be connected to a support, A plurality of wire rope systems connected to the frame, wherein the plurality of wire rope systems are configured to hold the load against the frame, and each of the plurality of wire rope systems includes a wire rope having an independently adjustable working length, A plurality of sensors connected to the frame, wherein each of the plurality of sensors is configured to sense at least one parameter of the load, A lifting device equipped with the following features.

2. The lifting device according to claim 1, wherein the operating length of each wire rope is independently adjustable in response to input from the plurality of sensors to level the load with respect to the support.

3. The lifting device according to any one of the above claims, wherein each of the plurality of wire rope systems further includes an electric winch connected to the frame, and each electric winch is configured to adjust the operating length of each of the wire ropes.

4. The lifting device according to any one of the above claims, wherein the plurality of sensors include a plurality of load sensors, each of the plurality of load sensors being connected to each of the wire ropes and configured to measure the tension in each of the wire ropes.

5. The lifting device according to any one of claims 3 and 4, wherein at least one of the electric winches is connected to each of the multiple corners of the frame.

6. The lifting device according to any one of the above claims, further comprising an inclinometer detachably connectable to the load, wherein the inclinometer is configured to determine the inclination of the load with respect to the support.

7. The lifting device according to any one of the above claims, wherein the inclination of the load includes a first inclination angle along a first axis and a second inclination angle along a second axis, and the first axis is perpendicular to the second axis.

8. The lifting device according to any one of the above claims, further comprising a mass body movably connected to the frame, wherein the center of gravity of the frame is displaced such that the frame tilts when the mass body is moved relative to the frame.

9. The lifting device according to claim 8, wherein the mass body is movable along a first direction and a second direction relative to the frame, and the first direction is perpendicular to the second direction.

10. The lifting device according to claim 9, comprising: a first linear actuator connected to the frame, wherein the first linear actuator is configured to move the mass along a first direction; and a second linear actuator connected to the frame, wherein the second linear actuator is configured to move the mass along a second direction.

11. The lifting device according to any one of the above claims, further comprising at least one flywheel gyroscope system connected to the frame, each of the at least one flywheel gyroscope systems configured to provide a controllable torque to the frame.

12. Each of the at least one flywheel gyroscope systems is: A movable gimbal axis relative to the aforementioned frame, Includes a flywheel rotatably connected to the gimbal axis, The rotational speed of the flywheel and the attitude of the gimbal axis can each be independently controlled to change the torque on the frame. The lifting device according to claim 11.

13. The lifting device according to any one of the above claims, wherein the plurality of sensors include a first gyro sensor connected to the frame and configured to detect the orientation of the load, and a second gyro sensor connected to the load and configured to detect the orientation of the load.

14. The plurality of sensors include at least one camera connected to the frame, and the at least one camera is A lifting device according to any one of the above claims, positioned toward the load to provide an image of the load.

15. The lifting device according to any one of the above claims, wherein the load is a modular construction unit.

16. It is a lifting system, A lifting device according to any one of the above claims, A controller that communicates with the lifting device, the controller being configured to control the lifting device and to independently change each of the three translational degrees of freedom and each of the three rotational degrees of freedom of the load, A lifting system equipped with [a specific feature].

17. The lifting system according to claim 16, wherein the controller communicates wirelessly with the lifting device.

18. The lifting system according to claim 16 or 17, further comprising a user controller positioned at a distance from the controller and communicating wirelessly with the controller, wherein the user controller is configured to transmit control commands from the user to the controller.

19. A method for lifting cargo, The method involves holding a load to a frame using multiple wire rope systems, wherein the frame is connected to a support, and each of the multiple wire rope systems includes a wire rope having an independently adjustable working length. The frame receives input from a plurality of sensors connected to it, wherein the plurality of sensors are configured to sense at least one parameter of the load. Based on the inputs from the aforementioned multiple sensors, the operating length of each wire rope is adjusted independently. A method that includes this.

20. The method according to claim 19, further comprising leveling the load by independently adjusting the operating length of each wire rope.

21. The method according to any one of claims 19 and 20, further comprising moving a mass body relative to the frame, displacing the center of gravity of the frame and tilting the frame, and independently adjusting the operating length of each wire rope so as to displace the load laterally relative to the support.

22. The method according to any one of claims 19 to 21, further comprising independently controlling the rotational speed of the flywheel and the attitude of the gimbal axis relative to the frame to provide a controllable torque to the frame.

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