Hoisting posture control system and method

Abstract

A hoisting posture control system and method, applicable to the technical field of modular construction. According to the hoisting posture control system, controllers corresponding to functional modules are called on the basis of data detected by sensors, to drive posture control of a hoisted object, thereby assisting a tower crane operator in making work decisions, so that the operator does not need to take risks to get close to a module to be installed hoisted in the air, ensuring the safety of workers and the accuracy and reliability of module installation. Thus, the labor cost in modular construction work can be reduced, and the assembly quality and efficiency of modules are improved.

Description

A hoisting posture control system and control method

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on December 29, 2023, with application number 202311873172.5 and invention name “A hoisting posture control system and control method”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application belongs to the field of modular building technology, and in particular relates to a hoisting posture control system and control method. Background Art

[0003] During the installation process of modular buildings, it is often necessary to position the modules in a specific position and posture. However, existing lifting equipment cannot achieve this goal without manual operation. More specifically, during the installation process, the final posture (position and tilt) of the modules requires the joint efforts of ground staff and crane operators. During this process, the crane operator needs to make the final adjustments to the module position (for example, by approximately 15 cm) based on the adjustments requested by the ground staff.

[0004] However, compared to the scale of tower cranes, the required position adjustment steps for modules to be installed are typically very small, making the adjustment accuracy requirements excessively high. Therefore, it is difficult for tower crane operators to achieve precise control when adjusting modules to be installed. Furthermore, relying on tower cranes also makes it difficult to reduce module sway during installation. Therefore, when the required horizontal displacement of a module to be installed (i.e., the deviation between the module position and the target position) is too small for tower crane operation, ground workers must manually pull the module to achieve more precise position adjustment. Furthermore, due to structural limitations, tower cranes cannot control the module's steering angle (i.e., the orientation of the module to be installed), making it difficult to suppress small module sway. Therefore, small-scale horizontal position adjustment, steering angle adjustment, and small sway suppression all require ground workers to directly apply lateral force to the module. Regarding the module's horizontal posture adjustment, although most modules can be adjusted to a horizontal position by adjusting the sling length during the initial lifting phase, this process relies on the worker's subjective judgment and is not accurate. Furthermore, during the manual calibration process during the final installation phase, the module's horizontal posture error inevitably increases with fine-tuning of position and steering. Technical issues

[0005] The embodiments of the present application provide a hoisting posture control system and control method, which can solve the technical problem that the hoisting posture is difficult to accurately adjust during the installation of modular buildings. Technical Solutions

[0006] In a first aspect, an embodiment of the present application provides a hoisting posture control system, wherein the hoisting posture control system is applied to a hoisting device connected to a hoisted object, and the hoisting posture control system includes a data processing device;

[0007] The hoisting equipment includes a tension sensor, an inertial measurement unit, and a displacement sensor; the tension sensor is used to detect the current tension of the rope of the hoisting equipment; the inertial measurement unit is used to detect the spatial posture data of the hoisted object; and the displacement sensor is used to measure the displacement data of the hoisting frame of the hoisting equipment relative to the steering control mechanism.

[0008] Wherein, the hoisting equipment further comprises a mass distribution adjustment mechanism, a rope drive mechanism, a steering drive mechanism and a thruster;

[0009] Wherein, the data processing device includes a mass distribution controller, a rope length controller, a steering controller and a thrust controller;

[0010] The data processing device is used to obtain a motion instruction of the hoisted object, wherein the motion instruction is used to control the hoisting equipment to adjust the position and posture of the hoisted object relative to the target installation position;

[0011] The data processing device is further configured to execute the following functional modes based on the motion instruction and in combination with the current tension of the rope, the spatial posture data, and the displacement data:

[0012] Steering adjustment mode, when the motion instruction represents steering control, calling the steering controller to control the steering drive mechanism to adjust the orientation of the hoisted object;

[0013] Position adjustment mode, when the motion instruction represents horizontal and / or vertical position adjustment, calling the rope length controller to control the rope drive mechanism, or calling the rope length controller and the mass distribution controller to control the rope drive mechanism and the mass distribution adjustment mechanism, so as to fine-tune the horizontal and vertical position of the hoisted object;

[0014] In the attitude adjustment mode, when the motion instruction represents horizontal attitude adjustment, the rope length controller is called to control the rope drive mechanism to fine-tune the attitude of the hoisted object, or the rope length controller and the mass distribution controller are called to control the rope drive mechanism and the mass distribution adjustment mechanism to fine-tune the attitude of the hoisted object;

[0015] a sway suppression mode, in which, when the motion instruction indicates sway suppression, the thrust controller is called to control the thruster to provide sway damping for the hoisting equipment;

[0016] The data processing device is further configured to control and schedule the steering adjustment mode, the position adjustment mode, the posture adjustment mode, and the sway suppression mode according to preset safety rules.

[0017] In some embodiments, when executing the steering adjustment mode, the position adjustment mode, or the posture adjustment mode, if the data processing device detects that the hoisting state of the hoisted object reaches a preset shaking amplitude and / or a preset swing speed, the steering adjustment mode, the position adjustment mode, or the posture adjustment mode is turned off, and the shaking suppression mode is activated to suppress the shaking of the hoisted object.

[0018] Wherein, when the data processing device is executing the steering adjustment mode or the position adjustment mode, if it is detected that the hoisting state of the hoisted object reaches a preset horizontal inclination error, the steering adjustment mode or the position adjustment mode is turned off, and the posture adjustment mode is started to adjust the horizontal posture of the hoisted object.

[0019] In some embodiments, the hoisting posture control system further includes a computer-aided vision system and a human-computer interaction device;

[0020] The computer-aided vision system is used to identify a posture error of the hoisted object relative to a target installation position, generate adjustment suggestion data based on the posture error, and display predicted posture information related to the adjustment suggestion data in a preset visualization area;

[0021] The human-computer interaction device is used to respond to the user's adjustment control instructions;

[0022] The computer-aided vision system is further configured to display predicted posture information related to the adjustment control instruction in the preset visualization area;

[0023] The motion instruction is the adjustment control instruction or the adjustment suggestion data.

[0024] In some embodiments, the hoisting equipment further comprises a hoisting frame and a sling, wherein the sling is connected to the hoisting frame or the mass distribution adjustment mechanism and is used to connect the hoisted object; the mass distribution adjustment mechanism is connected to the hoisting frame and is used to adjust the mass distribution of the combination of the hoisted object and the hoisting frame, so as to cooperate with the rope drive mechanism to achieve horizontal position adjustment of the hoisted object;

[0025] The rope driving mechanism is connected to the hoisting frame and is used to adjust the posture of the hoisted object so that the hoisted object maintains a horizontal posture;

[0026] The rope driving mechanism is further used to cooperate with the mass distribution adjustment mechanism to adjust the horizontal position of the hoisted object;

[0027] The rope driving mechanism is also used to adjust the vertical position of the hoisted object.

[0028] In some embodiments, the hoisting posture control system further includes a plurality of thrusters, and the plurality of thrusters are arranged on the hoisting frame or on the hoisted object;

[0029] The data processing device is further configured to calculate the speed of the hoist frame based on the spatial attitude data measured by the inertial measurement unit during the start-up of the sway suppression mode, calculate the desired damping force and direction required for each thruster based on the speed of the hoist frame, and call the thrust controller to control each thruster to operate according to the desired damping force and direction to achieve oscillation suppression.

[0030] In some embodiments, the computer-assisted vision system includes a plurality of image sensors, each of which is arranged at a side corner of the hanging frame, and each image sensor is used to collect current image information, and the current image data includes image information corresponding to the current posture of the hanging object and image information corresponding to the target installation position;

[0031] The hoisting posture control system further includes an inertial measurement unit, which is arranged at a corner position of the surface of the hoisting frame and is used to detect the spatial posture data of the hoisted object;

[0032] The image sensor and the inertial measurement unit are used to cooperate with the computer-aided vision system to identify the posture error of the hoisted object relative to the target installation position.

[0033] In some embodiments, the computer-aided vision system further includes an augmented reality display device for displaying predicted posture information related to the adjustment suggestion data, current posture information of the hoisted object, and target position posture.

[0034] In a second aspect, the present application further proposes a hoisting posture control method, which is applied to a data processing device of the hoisting posture control system described in the first aspect above, wherein the hoisting posture control system is applied to a hoisting device connected to a hoisted object, and the hoisting device includes a tension sensor, an inertial measurement unit, and a displacement sensor;

[0035] The tension sensor is used to detect the current tension of the rope of the hoisting equipment; the inertial measurement unit is used to detect the spatial posture data of the hoisted object; the displacement sensor is used to measure the displacement data of the hoisting frame of the hoisting equipment relative to the steering control mechanism;

[0036] The hoisting equipment also includes a mass distribution adjustment mechanism, a rope drive mechanism, a steering drive mechanism, and a thruster;

[0037] The control method comprises:

[0038] The data processing device acquires a motion instruction of the hoisted object, wherein the motion instruction is used to control the hoisting equipment to adjust the position and posture of the hoisted object relative to the target installation position;

[0039] The data processing device executes the following functional modes based on the motion instruction and in combination with the current tension of the rope, the spatial posture data, and the displacement data, including:

[0040] Steering adjustment mode, when the motion instruction represents steering control, controlling the steering drive mechanism to adjust the orientation of the hoisted object;

[0041] a position adjustment mode, when the motion instruction represents horizontal and / or vertical position adjustment, controlling the mass distribution adjustment mechanism and the rope drive mechanism to fine-tune the horizontal position of the hoisted object;

[0042] Attitude adjustment mode, when the motion instruction represents horizontal attitude adjustment, controlling the rope drive mechanism to fine-tune the attitude of the hoisted object, or controlling the rope drive mechanism and the mass distribution adjustment mechanism to fine-tune the attitude of the hoisted object;

[0043] a sway suppression mode, controlling the thruster to provide sway damping for the hoisting equipment when the motion instruction indicates sway suppression;

[0044] The data processing device controls and schedules the steering adjustment mode, the position adjustment mode, the posture adjustment mode, and the sway suppression mode according to preset safety rules.

[0045] In some embodiments, the step of controlling and scheduling the steering adjustment mode, the position adjustment mode, the posture adjustment mode, and the sway suppression mode according to preset safety rules by the data processing device further includes:

[0046] During the execution of the steering adjustment mode, the position adjustment mode, or the posture adjustment mode, if the data processing device detects that the hoisting state of the hoisted object reaches a preset sway amplitude and / or a preset swing speed, the data processing device activates the sway suppression mode to suppress sway of the hoisted object;

[0047] or

[0048] During the execution of the steering adjustment mode or the position adjustment mode, if the data processing device detects that the hoisting state of the hoisted object reaches a preset horizontal inclination error, the data processing device activates the posture adjustment mode to adjust the horizontal posture of the hoisted object.

[0049] In some embodiments, the control system further includes a computer-aided vision system and a human-computer interaction device, and the control method further includes:

[0050] The computer-aided vision system identifies a posture error of the hoisted object relative to a target installation position, and generates adjustment suggestion data based on the posture error;

[0051] The computer-aided vision system displays predicted posture information related to the adjustment suggestion data in a preset visualization area;

[0052] The human-computer interaction device responds to the user's adjustment control instruction and sends the adjustment control instruction to the data processing device;

[0053] The data processing device controls the hoisting equipment according to the motion instruction to adjust the posture of the hoisted object, wherein the motion instruction is the adjustment control instruction or the adjustment suggestion data.

[0054] In some embodiments, during the process of starting the steering adjustment mode, the position adjustment mode and / or the posture adjustment mode, the control method further includes:

[0055] The data processing device determines the current status of the hoisting equipment and the hoisted object based on the spatial posture data and the displacement data;

[0056] A motion plan is established for the mass distribution adjustment mechanism, the rope drive mechanism, and the steering drive mechanism based on the current state, so as to drive the hoisted object to adjust from the current posture to the desired target posture according to the motion plan.

[0057] In some embodiments, during the process of starting the steering adjustment mode and / or the position adjustment mode and / or the posture adjustment mode, the control method further includes:

[0058] The data processing device obtains the current tension of the rope detected by the tension sensor, and when the current tension of the rope is less than a preset tension threshold, controls the rope driving mechanism to shorten the rope length corresponding to the rope by calling the rope length controller, so as to fine-tune the posture of the hoisted object; or, when the current tension of the rope is greater than the preset tension threshold, controls the rope driving mechanism to slightly increase the rope length corresponding to the rope by calling the rope length controller, so as to fine-tune the posture of the hoisted object.

[0059] In some embodiments, the computer-aided vision system includes a plurality of image sensors, each image sensor is used to collect current image information, and the current image data includes image information corresponding to the current posture of the hoisted object and image information corresponding to the target installation position;

[0060] The computer-aided vision system identifies a posture error of the hoisted object relative to a target installation position, and generates adjustment suggestion data based on the posture error, including:

[0061] The computer-aided vision system reconstructs an image model of each current image information in a virtual scene based on the spatial posture data to obtain a simulated reconstructed image; wherein the simulated reconstructed image includes the current posture information and the target position posture of the hoisted object;

[0062] Identifying a posture error of the hoisted object relative to a target installation position based on the simulated reconstructed image, and generating adjustment suggestion data based on the posture error;

[0063] The predicted posture information related to the adjustment suggestion data, the current posture information of the hoisted object, and the target position posture are displayed in a preset visualization area.

[0064] In some embodiments, the control method further includes:

[0065] The data processing device acquires the spatial posture data and the current image information;

[0066] detecting whether the hoisting state of the hoisted object reaches a preset horizontal inclination error based on the spatial posture data and / or the current image information;

[0067] Based on the spatial posture data and / or the current image information, it is detected whether the hoisting state of the hoisted object reaches a preset shaking amplitude and / or a preset swing speed threshold.

[0068] In some embodiments, the hoisting posture control method further includes:

[0069] The human-computer interaction device stores the adjustment control instruction in a preset cache area as a current cache instruction;

[0070] The data processing device generates current simulated posture information for the hoisted object according to the current cache instruction;

[0071] The computer-aided vision system displays the current simulated posture information of the hoisted object in the preset visualization area;

[0072] The human-computer interaction device responds to the user's instruction sending operation and sends the current cache instruction to the data processing device, so that the data processing device controls the hoisting equipment according to the current cache instruction to adjust the posture of the hoisted object.

[0073] This application can assist tower crane operators in their work decisions, eliminating the need for operators to risk approaching modules suspended in the air to be installed, thereby ensuring the safety of workers and the accuracy and reliability of module installation; thereby reducing labor costs in modular construction work and improving module assembly quality and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0075] FIG1 is a schematic structural diagram of a hoisting device provided in an embodiment of the present application;

[0076] FIG2 is a schematic diagram of the overall architecture of a lifting posture control system provided in an embodiment of the present application;

[0077] FIG3 is a schematic diagram of the composition of the system corresponding to each mode provided in an embodiment of the present application;

[0078] FIG4 is a schematic diagram illustrating trigger conditions for activating various functional modes and transitions between different functional modes according to an embodiment of the present application;

[0079] FIG5 is a schematic diagram of a specific flow chart of the working process of the position adjustment mode and the steering adjustment mode provided in the embodiment of the application;

[0080] FIG6 is a schematic diagram of a specific flow chart of the working process of the posture adjustment mode provided in the embodiment of the application;

[0081] FIG7 is a schematic diagram of a specific flow chart of the working process of the sway suppression mode provided in an embodiment of the application;

[0082] FIG8 is a schematic diagram of the field of view coverage area of ​​the image acquisition function of the image sensor of the hoisting equipment provided in an embodiment of the present application;

[0083] FIG9 is a schematic diagram of image model reconstruction related to current image information collected by each camera provided in an embodiment of the present application.

[0084] 1 , the reference numerals in the figure are: lifting equipment 100, mass distribution adjustment mechanism 13, rope drive mechanism 20, steering drive mechanism 30; lifting frame 11, sling 12, lifting rope 121, hoisted object 300; image sensor 01, tension sensor 02, inertial measurement unit measurement 03, displacement sensor 04, reel 041. Modes for Carrying Out the Invention

[0085] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0086] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0087] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0088] In the description of the embodiments of the present application, the term "plurality" refers to two or more (including two), unless otherwise clearly and specifically defined.

[0089] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0090] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0091] The inventors of this application have noted that the module hoisting and installation practices in the prior art are time-consuming and labor-intensive. Ground workers must work under or near the hoisted modules and rely on their experience to complete the hoisting and installation of the modules. The working environment in which the workers are located is subject to high risks. In the hoisting or installation process of conventional modular buildings, workers will use a sling to connect the module to be installed (the hoisted object) to the hoisting equipment. The ground workers will operate the hoisting equipment to lift and lift the hoisted object in the air, and perform a series of height adjustment operations, direction and posture adjustment operations, and horizontal position adjustment operations until it reaches the target installation position and is in place, and then the sling is untied. For each module to be installed (the hoisted object), the above process is repeated. In this process, the tower crane operator needs to make the final adjustment to the position of the module to be installed according to the adjustment requirements of the ground workers (for example, the adjustment size is about 15 cm); however, compared with the scale of the tower crane, the corresponding adjustment step size for the adjustment position of the module to be installed is still very small, making the adjustment accuracy too high. Therefore, it is difficult for the tower crane operator to achieve precise control when adjusting the module to be installed.

[0092] To solve the above technical problems, a hoisting posture control system and control method are proposed. The hoisting posture control system is applied to a hoisting device connected to a hoisted object; the hoisting device also includes a mass distribution adjustment mechanism 13, a rope drive mechanism 20, a steering drive mechanism 30, and a thruster;

[0093] The hoisting device of the present application takes the structure shown in FIG1 as an example. The hoisting device 100 provided in the present application comprises a rope drive mechanism 20, a hoisting frame 11, a mass distribution adjustment mechanism 13, and a sling 12, which are arranged in sequence along the vertical direction. The sling 12 is connected to the hoisting frame 11 or the mass distribution adjustment mechanism 13 via a hoisting rope 121. The hoisting rope 121 is also used to connect to the hoisted object 300.

[0094] The mass distribution adjustment mechanism 13 is connected to the hoisting frame 11 and is used to adjust the horizontal position of the hoisted object 300 and the mass distribution of the combination of the hoisted object and the hoisting frame, so as to cooperate with the rope driving mechanism 20 to achieve the horizontal position adjustment of the hoisted object 300;

[0095] The rope drive mechanism 20 is connected to the hoisting frame 11 and is used to adjust the posture of the hoisted object 300 so that the hoisted object 300 maintains a horizontal posture; the rope drive mechanism 20 is also used to cooperate with the mass distribution adjustment mechanism 13 to adjust the horizontal position of the hoisted object 300; the rope drive mechanism 20 is also used to adjust the vertical position of the hoisted object 300.

[0096] The rope driving mechanism 20 is connected to the hoisting frame 11 and is used to adjust the posture of the hoisted object 300 so that the hoisted object 300 maintains a horizontal posture.

[0097] The hoisting device 100 can achieve posture control of multiple degrees of freedom of the hoisted object 300 based on the control of the hoisting posture control system without tower crane movement and manual pulling: the hoisting device 100 has a sling 12, which is used to connect with the hoisted object 300, so that the hoisting device 100 can hoist the hoisted object 300;

[0098] In FIG1 , the hoisting device 100 further includes a steering drive mechanism 30 for adjusting the horizontal orientation of a hoisted object 300. The steering drive mechanism 30 is connected to the top of the rope drive mechanism 20, or is connected between the hoisting frame 11 and the mass distribution adjustment mechanism 13, or is connected between the mass distribution adjustment mechanism 13 and the sling 12.

[0099] In addition, the hoisting device 100 further has a plurality of thrusters, which are not shown in FIG. 1 . The plurality of thrusters can be arranged on the hoisting frame or on the hoisted object.

[0100] As shown in FIG1 , the hoisting equipment further includes a tension sensor 02 , an inertial measurement unit (IMU) 03 and a displacement sensor 04 ;

[0101] The tension sensor 02 is used to detect the current tension of the rope of the hoisting equipment. The tension sensor 02 can be fixed to the anchor point of each rope;

[0102] The inertial measurement unit 03 is used to detect the spatial attitude data of the hoisted object. As shown in Figure 1, the inertial measurement unit 03 can be set at the surface corner position of the hoisting frame 11 to detect the spatial attitude data of the hoisted object. The spatial attitude data specifically includes the three-axis attitude angle (or angular rate) and acceleration of the hoisted object;

[0103] The displacement sensor 04 can be used to measure the displacement data of the hoisting frame of the hoisting equipment relative to the steering drive mechanism 30; as shown in Figure 1, the displacement sensor 04 is fixed to the wire drum 041, and the wire drum 041 is fixed on the hoisting frame 11 of the hoisting equipment 100. The wire drum 041 is used to connect the rope, and the end of the rope is fixed to the bottom of the steering drive mechanism 30.

[0104] In order to illustrate the specific technical solutions of the lifting posture control system and control method proposed in the embodiments of this application, this application is elaborated based on the lifting equipment with the structure shown in Figure 1. The application is explained below through specific embodiments.

[0105] Example 1

[0106] In the first embodiment, the hoisting posture control system includes a data processing device (Automatic pose adjustment system-Control Systems, APAS-CS), wherein the data processing device includes a steering controller, a mass distribution controller, a rope length controller, and a thrust controller;

[0107] As shown in FIG2 , the hoisting posture control system further includes a computer-aided vision system (CAVS) and a human-computer interaction device (APAS-CP).

[0108] It can be understood that, as shown in FIG2 , the data processing device APAS-CS is mainly composed of a mission planner and four functional modes, including: 1 steering adjustment mode, 2 position adjustment mode, 3 attitude adjustment mode, and 4 sway suppression mode.

[0109] It should be noted that the functions corresponding to steering adjustment mode 1 and position adjustment mode 2 are executed when the incoming hoisted object position and steering commands are received. Specifically, the purpose of position adjustment mode 2 is to control the lifted hoisted object to translate according to the required amount, while trying to maintain the horizontal posture of the hoisted object. If the posture of the hoisted object is no longer horizontal due to various reasons (such as modeling / control errors or external interference), the function corresponding to posture adjustment mode 3 will be executed to restore the module to a horizontal posture. The purpose of executing the corresponding function of sway suppression mode 4 is to reduce the sway of the hoisted object. Although the transmission between these functional modes is controlled by the task planner (TS), the operator can also directly send adjustment control instructions through the human-computer interaction device APAS-CP to call a "controller" to start a functional mode (the specific implementation method can be seen in the solution of Example 2 in the following text).

[0110] Further, referring to FIG3 , FIG3 further illustrates that each functional mode is equipped with a corresponding control system, which includes corresponding underlying control loops and actuators (mass distribution adjustment mechanism, rope drive mechanism, steering drive mechanism and thruster) in specific implementation;

[0111] It is understandable that the data processing device of the hoisting posture control system of the present application obtains data detected by sensors such as the tension sensor 02, the inertial measurement unit 03, and the displacement sensor 04, and calls various controllers based on the data detected by these sensors to drive the actuators of the hoisting equipment such as the mass distribution adjustment mechanism, the rope drive mechanism, the steering drive mechanism, and the thruster to improve the posture control of the hoisted object:

[0112] The data processing device may be used to obtain motion instructions for the hoisted object, and the motion instructions may be used to control the hoisting equipment to adjust the position and posture of the hoisted object relative to the target installation position; wherein the motion instructions may represent signal instructions such as "steering angle, horizontal position, longitudinal position, trigger posture adjustment, trigger shake adjustment" included in the "instruction trigger mechanism" in FIG3 , and signal instructions such as "action 1, action 2, action 3, action 4, excitation condition 1, excitation adjustment 2" in FIG4 ;

[0113] The data processing device is further configured to execute the following functional modes based on the motion instruction and in combination with the current tension of the rope, the spatial posture data, and the displacement data:

[0114] Steering adjustment mode, when the motion instruction represents steering control, calling the steering controller to control the steering drive mechanism to adjust the orientation of the hoisted object;

[0115] Position adjustment mode, when the motion instruction represents horizontal and / or vertical position adjustment, calling the rope length controller to control the rope drive mechanism, or calling the rope length controller and the mass distribution controller to control the rope drive mechanism and the mass distribution adjustment mechanism, so as to fine-tune the horizontal and vertical position of the hoisted object;

[0116] In the attitude adjustment mode, when the motion instruction represents horizontal attitude adjustment, the rope length controller is called to control the rope drive mechanism to fine-tune the attitude of the hoisted object, or the rope length controller and the mass distribution controller are called to control the rope drive mechanism and the mass distribution adjustment mechanism to fine-tune the attitude of the hoisted object;

[0117] a sway suppression mode, in which, when the motion instruction indicates sway suppression, the thrust controller is called to control the thruster to provide sway damping for the hoisting equipment;

[0118] The data processing device is further configured to control and schedule the steering adjustment mode, the position adjustment mode, the posture adjustment mode, and the sway suppression mode according to preset safety rules.

[0119] In specific implementations, the data processing device can implement the functions corresponding to each functional mode and the conversion between different functional modes through the "task planner":

[0120] In a specific implementation, an example of a task planner can be shown in Figure 4, with a total of five modes, including: 1) idle mode, in which all actuators remain stationary; 2) emergency stop mode, which will overwrite any existing task, send a notification to CAVS and automatically switch to idle state; 3) position adjustment mode and steering adjustment mode, which accept and execute a given set of target installation positions and steering angle commands for the hoisted objects, using a mass distribution controller and a steering controller; 4) attitude adjustment mode, which interrupts the position adjustment mode and steering adjustment mode when called, and starts the horizontal adjustment system to adjust the horizontal attitude of the module; 5) sway suppression mode, which can interrupt the position and steering adjustment mode and the horizontal control mode, and start the sway suppression system.

[0121] It should be noted that the preset security rule may represent a computer program preset by an artificial person. The relevant program code of the preset security rule may be written into the task planner. The user may set and adjust the state transition rules of each mode in the computer program according to their own needs. This application does not impose any restrictions on this. For details, please refer to FIG4 , which shows two typical state transition rules in the task planner:

[0122] Triggering Condition 1: If the data processing device detects that the hoisted object's hoisting state has reached a preset horizontal tilt error while executing the steering adjustment mode or the position adjustment mode, it will disable the steering adjustment mode or the position adjustment mode and activate the attitude adjustment mode to adjust the hoisted object's horizontal attitude. Specifically, if a significant horizontal error is detected in the module, the position and steering adjustment tasks are automatically stopped and the horizontal calibration task is activated. This state transition logic is primarily based on safety objectives to prevent collision damage caused by model swing or unbalanced module attitude.

[0123] Triggering condition 2: When the data processing device is executing the steering adjustment mode, the position adjustment mode or the attitude adjustment mode, if it is detected that the hoisting state of the hoisted object reaches a preset shaking amplitude and / or a preset swinging speed, the steering adjustment mode, the position adjustment mode or the attitude adjustment mode will be turned off, and the shaking suppression mode will be started to suppress the shaking of the hoisted object; that is, when a large shaking is detected, the horizontal calibration task and the position and steering adjustment tasks will be terminated, and shaking suppression will be started.

[0124] It should be noted that for the above-mentioned triggering conditions 1 and 2, the data processing device can determine whether the current state meets the triggering conditions in the following manner:

[0125] The data processing device needs to obtain spatial posture data (measured by the displacement sensor) and current image information (collected by the computer-aided vision system) (the current image data includes image information corresponding to the current posture of the hoisted object and image information corresponding to the target installation position. For details, please refer to the specific implementation scheme of Example 2 below);

[0126] Then, the data processing device may detect whether the hoisting state of the hoisted object reaches a preset horizontal inclination error based on the spatial posture data and / or the current image information;

[0127] The data processing device may also detect whether the hoisting state of the hoisted object reaches a preset shaking amplitude and / or a preset swing speed threshold based on the spatial posture data and / or the current image information.

[0128] Position adjustment mode and steering adjustment mode

[0129] Furthermore, in one embodiment, as shown in FIG5 , this embodiment specifically describes the position adjustment mode (mass distribution controller and rope length controller) and the steering adjustment mode (steering controller):

[0130] Figure 5 illustrates the system workflow for the position adjustment mode and the steering adjustment mode. Once the data processing unit APAS-CS receives the desired position change and steering angle change for the load, it invokes the motion planner. The motion planner utilizes its internal control model, inertial measurement unit, and displacement sensor readings to generate a trajectory to move the load from its current position to the desired position. The motion planner not only drives the module to the desired position and steering angle but also maintains a balanced module position based on the system's internal mathematical model.

[0131] Then, at each time step, the required steering joint angles, the required translation motor positions of the horizontal stage, and the required lengths of the hoisting ropes are extracted and sent to the corresponding low-level controllers. In particular, a rope tension adjustment module is added for the hoisting ropes. This module reads the readings from the force sensor and slightly shortens the corresponding rope length when the force reading is less than a preset tension threshold, and slightly increases the corresponding rope length when the force reading exceeds the preset tension threshold. The goal of the rope tension adjustment module is to keep each rope in tension so that the load can be better distributed and the basic assumption of the internal model (all ropes are in tension) is met. In addition, the rope tension cap helps protect the ropes from breaking. Once the trajectory planned by the motion planner is completed, the mission will automatically exit.

[0132] It should be noted that the horizontal translation stage is a specific implementation of the mass distribution adjustment mechanism, and the translation motor controller is an implementation of the mass distribution controller, and does not constitute a limitation on the mass distribution adjustment mechanism and mass distribution controller of this application.

[0133] Attitude adjustment mode

[0134] Furthermore, in one embodiment, as shown in FIG6 , this embodiment specifically describes the posture adjustment mode (mass distribution controller and rope length controller):

[0135] As shown in Figure 6, the system corresponding to the attitude adjustment mode has a similar structural composition to the system corresponding to the position adjustment mode. It also consists of a motion planner, an internal model, a translation motor controller, a rope tension adjustment module, and a corresponding rope length regulator. The overall workflow is the same as that of the system corresponding to the position adjustment mode. In the motion planner of the system corresponding to the attitude adjustment mode, the length trajectory of the hoisting rope and the position trajectory of the translation motor (horizontal displacement table) are simultaneously planned. The goal of planning the rope length trajectory is to adjust the horizontal attitude of the module to a preset value, while the trajectory of the translation motor (horizontal displacement table) is planned to ensure that the position change of the hoisted object during the horizontal attitude adjustment process is as small as possible.

[0136] In addition, it should be noted that, in the process of starting the steering adjustment mode and / or the position adjustment mode and / or the posture adjustment mode, the data processing device will obtain the current tension of the rope detected by the tension sensor, and when the current tension of the rope is less than the preset tension threshold, the rope length controller is called to control the rope driving mechanism to shorten the rope length corresponding to the rope, so as to fine-tune the posture of the hoisted object; or, when the current tension of the rope is greater than the preset tension threshold, the rope length controller is called to control the rope driving mechanism to slightly increase the rope length corresponding to the rope, so as to fine-tune the posture of the hoisted object.

[0137] Sway suppression mode

[0138] Furthermore, in one embodiment, as shown in FIG7 , this embodiment specifically describes the sway suppression mode (thrust controller):

[0139] In this embodiment, the hoisting posture control system further includes a plurality of thrusters, and the plurality of thrusters are arranged on the hoisting frame or on the hoisted object;

[0140] During the process of starting the sway suppression mode, the data processing device calculates the speed of the hoist frame based on the spatial attitude data measured by the inertial measurement unit, calculates the expected damping force and direction required for each thruster based on the speed of the hoist frame, and calls the thrust controller to control each thruster to operate according to the expected damping force and direction to achieve oscillation suppression.

[0141] Specifically, the system in sway suppression mode obtains velocity feedback from the gantry frame based on inertial measurement unit readings and calculates a set of thruster damping forces based on an internal model. The thrust controller then generates a combined damping force on the gantry frame by controlling the rotational speed or pitch of the rotors (which are part of the thrusters). The sway suppression task terminates when the gantry frame's velocity falls below a preset threshold.

[0142] In a specific implementation, the thruster may include propeller blades and a rotary drive element for driving the propeller blades to rotate. The rotary drive element drives the propeller blades to rotate, thereby providing thrust in a direction opposite to the swing direction of the hoisting device 100. The data processing device can calculate the speed of the hoisting frame 11 based on data measured by the inertial measurement unit. Based on the speed of the hoisting frame 11, it calculates the desired damping force and direction to be provided by each thruster. The propeller blade rotational speed and pitch angle are then calculated, and the rotary drive element performs these calculations to achieve oscillation suppression. Optionally, the rotary drive element may be, but is not limited to, a motor.

[0143] The beneficial effect of the first embodiment of the present application is that the data processing device of the lifting posture control system calls the corresponding controllers of each functional module according to the data detected by the sensor to drive the actuator and control the posture of the hoisted object, thereby providing assistance to the tower crane operator's work decision-making, so that the operator does not need to take the risk of approaching the module to be installed suspended in the air, ensuring the safety of the staff and the accuracy and reliability of the module installation; thereby reducing the labor cost in modular construction work and improving the assembly quality and efficiency of the modules.

[0144] Example 2

[0145] Based on the solution of the above-mentioned embodiment 1, a technical solution of embodiment 2 is proposed. In embodiment 2, the computer-aided vision system CAVS is mainly used to identify the posture error of the hoisted object relative to the target installation position, generate adjustment suggestion data based on the posture error; and display the predicted posture information related to the adjustment suggestion data in a preset visualization area;

[0146] In a specific implementation, the computer-assisted vision system includes multiple image sensors. As shown in FIG1 , each image sensor 01 of the computer-assisted vision system is arranged at a side corner of the hanging frame 11. Each image sensor 01 is used to collect current image information. The current image data includes image information corresponding to the current posture of the hanging object 300 and image information corresponding to the target installation position.

[0147] As shown in FIG8 , the surface shape of the hanging frame 11 is rectangular. The computer-aided vision system of this embodiment includes a total of four image sensors 01, which are arranged at the four side corners of the hanging frame 11. The image sensors can be cameras. These cameras can cover most areas of the module to be installed, as shown in FIG8 , especially the environment around the bottom of the hanging object 300, so that the remote operator can clearly see the error between the hanging object 300 and the target position; this embodiment can be computer vision software of the computer-aided vision system. The current image information collected by each camera will be processed and calculated by the computer vision software to identify the image information of the hanging object 300 and the image information of the target installation position;

[0148] On the basis of the above scheme, if the computer-aided vision system CAVS receives the "ready" signal transmitted by the data processing device APAS-CS, it executes the image acquisition work of the hoisted object by each image sensor, and reconstructs the image model of the current image information collected by each camera in the virtual scene (specifically four current images) to obtain a complete simulated reconstructed image, as shown in Figure 9, the simulated reconstructed image includes the current posture information and the target position posture of the hoisted object; the four image sensors (cameras) of this embodiment are respectively located at the corner positions A, B, C and D of the side of the hanging frame 11. The four cameras collect a total of four current images, and the computer vision software will reconstruct these four current images;

[0149] It should be noted that the hoisting posture control system of the present application includes an inertial measurement unit (IMU). As shown in Figure 1, the inertial measurement unit 03 is arranged at the surface corner position of the hoisting frame 11, and is used to detect the spatial posture data of the hoisted object. The spatial posture data specifically includes the three-axis attitude angle (or angular velocity) and acceleration of the hoisted object.

[0150] Specifically, the computer-aided vision system of this embodiment reconstructs an image model for each of the current image information in a virtual scene based on the spatial posture data to obtain a simulated reconstructed image; wherein the simulated reconstructed image includes the current posture information and the target position posture of the hoisted object;

[0151] In a specific implementation, the computer vision software of the computer-aided vision system identifies the current image data collected by each camera, obtains the image information of the hoisted object and the image information of the target installation position, obtains relevant position feature information based on the image information of the hoisted object and the image information of the target installation position, and fuses the relevant position feature information with the spatial posture data measured by the IMU, thereby being able to realize visual image reconstruction of the hoisted object and the relevant position feature information of the target installation position in a simulated environment to obtain a simulated reconstructed image, as shown in Figure 9. The simulated reconstructed image includes the current posture information and the target position posture of the hoisted object; the computer-aided vision system will identify the posture error of the hoisted object relative to the target installation position based on the simulated reconstructed image, generate adjustment suggestion data based on the posture error, and generate predicted posture information related to the adjustment suggestion data.

[0152] The computer-aided vision system displays the predicted posture information related to the adjustment suggestion data, the current posture information of the hoisted object, and the target position posture in a preset visualization area;

[0153] Afterwards, this embodiment will also display the adjustment suggestion data. In this embodiment, the computer-aided vision system may further include an augmented reality display device, and the preset visualization area may be an AR interface of the augmented reality display device. For example, the augmented reality display device may be a safety helmet worn by a tower crane operator or a mobile terminal device such as a smart phone; the AR interface includes a real-time image with a mark (as shown in FIG4 ), and the real-time image may specifically include: the error display between the current posture information of the hoisted object and the target position posture, the result display generated by the predicted posture information, and the adjustment suggestion data.

[0154] The human-computer interaction device APAS-CP is mainly used to respond to the user's adjustment control instructions;

[0155] As shown in Figure 2, the human-computer interaction device can be an operation panel, which is directly controlled by the tower crane operator. The human-computer interaction device can include remote sensing and buttons. The remote sensing can include a horizontal position knob with 2 degrees of freedom, a vertical position knob with 1 degree of freedom, and a steering angle knob with 1 degree of freedom.

[0156] It is understandable that the user is an operator. For the operator, the job responsibility is to evaluate the current working condition of the tower crane through the adjustment suggestion data, predicted posture information, current posture information of the hoisted object and target position posture generated by the computer-aided vision system, and use the human-computer interaction device APAS-CP to send appropriate control instructions.

[0157] The tower crane operator of this embodiment can accurately perceive the current actual position and target installation position of the module (hoisting object) to be installed through a preset visualization area (such as an AR interface), and efficiently make adjustment control instructions and adjustment decisions under the guidance of the adjustment suggestion data given by the computer-aided software. The computer-aided vision system can display the predicted posture information related to the adjustment control instruction in the preset visualization area. The adjustment control instruction can be a horizontal position control instruction / vertical position control instruction / angle steering and other control instructions.

[0158] In addition, it should be noted that, in the above-mentioned embodiment 1, the data processing device APAS-CS receives the motion instruction as the adjustment control instruction or the adjustment suggestion data, which means that the data processing device APAS-CS can be used to control the lifting equipment according to the adjustment suggestion data or the adjustment control instruction to adjust the posture of the hoisted object.

[0159] Specifically, the data processing device APAS-CS of the second embodiment can receive control instructions from the human-computer interaction device APAS-CP or adjustment suggestion data automatically generated by CAVS, and coordinate the actuators corresponding to various sensors and functional modules to execute these adjustment control instructions to control the hoisting equipment to adjust the posture of the hoisted object;

[0160] In a specific implementation, this embodiment can adopt two methods to control the hoisting equipment to adjust the posture of the hoisted object:

[0161] Method 1: The user checks the adjustment suggestion data generated by the computer-aided vision system CAVS. The user can fine-tune the adjustment suggestion data based on his or her actual operating experience, and then send the adjusted motion instructions to the data processing device APAS-CS to realize the user's manual operation.

[0162] Method 2: The data processing device APAS-CS of this embodiment can also directly control the hoisting equipment to adjust the posture of the hoisted object based on the adjustment suggestion data generated by the computer-aided vision system CAVS. That is to say, when the hoisting equipment moves the hoisted object 300 to the desired range near the target position and orientation, the computer-aided vision system CAVS automatically identifies the posture error of the hoisted object relative to the target installation position, and generates adjustment suggestion data based on the posture error. Then, the data processing device APAS-CS directly controls the hoisting equipment to adjust the posture of the hoisted object based on the adjustment suggestion data corresponding to the posture error, eliminating manual operation and improving the degree of intelligence. The adjustment suggestion data generated by the computer-aided vision system CAVS can at least include: a) horizontal position adjustment suggestions; b) orientation adjustment suggestions; c) height adjustment suggestions; d) state transition adjustment suggestions, including leveling and shake suppression.

[0163] For example, when the computer-aided vision system CAVS detects that the hoisted object 300 is in an inclined posture relative to the horizontal plane (it can also be that the operator manually judges and sends an adjustment control instruction to the data processing device APAS-CS through the human-computer interaction device APAS-CP), the data processing device APAS-CS can control the rope drive mechanism 20 by calling the rope length controller to adjust the hoisted object 300 so that the hoisted object 300 is in a horizontal posture. The horizontal posture can be, but is not limited to, the contact surface of the hoisted object 300 is parallel to the target position, such as the bottom surface of the module of a modular building is parallel to the top surface of the building. In this way, through the cooperation of the mass distribution adjustment mechanism 13 and the rope drive mechanism 20, the hoisted object 300 can be adjusted to the desired posture so that the hoisted object 300 can be accurately placed at the target position. For example, the hoisted object 300 can be located directly above the target position in a horizontal posture in the vertical direction, so that the hoisted object 300 can be accurately placed at the target position.

[0164] In addition, in this embodiment, the human-computer interaction device CAVS may further include a "sway suppression start button", a "leveling start button", an "emergency stop button", and an "emergency lift button" as shown in FIG2 . If the operator finds that there is a problem with the hoisting or transportation of the hoisted object, he or she can execute the desired preset function task by pressing the "sway suppression start button" or "leveling start button";

[0165] In addition, in other embodiments, in an emergency, the operator can trigger the "emergency stop button" and "emergency lift button" of the human-machine interaction device APAS-CP, and quickly send an "emergency stop" command to the data processing device APAS-CS through the "emergency stop button" to stop all running tasks and keep all actuators stationary; and quickly send an "emergency lift" command to the data processing device APAS-CS through the "emergency lift button" to lift the hoisted object to a preset height and then keep all actuators stationary.

[0166] The beneficial effect of the second embodiment of the present invention is that the control system of the present embodiment is combined with the actual on-site construction environment and operating procedures, and with different types of sensors deployed on the combined lifting equipment, and is based on the adjustment recommendation data of the computer-aided vision system CAVS or the adjustment control instructions of the human-computer interaction device APAS-CP to cope with the complex on-site environment, and is robust and practical; thereby providing a lifting auxiliary control technical solution that can be deeply assisted, safe, efficient and has expansion value; while being able to smoothly complete all functions of the existing lifting process, it enhances the safety of the lifting process and provides an interface and platform for fully automatic lifting; further reduces the labor cost in modular construction work, and further improves the assembly quality and assembly efficiency of the modules.

[0167] Example 3

[0168] Based on the hoisting posture control systems of the first and second embodiments above, this third embodiment provides a corresponding hoisting posture control method embodiment. The hoisting posture control method can be understood as a control program applied to the data processing device of the hoisting posture control system described in the first and second embodiments;

[0169] The control method of this embodiment includes the following steps:

[0170] The data processing device acquires a motion instruction of the hoisted object, wherein the motion instruction is used to control the hoisting equipment to adjust the position and posture of the hoisted object relative to the target installation position;

[0171] The data processing device executes the following functional modes based on the motion instruction and in combination with the current tension of the rope, the spatial posture data, and the displacement data, including:

[0172] Steering adjustment mode, when the motion instruction represents steering control, controlling the steering drive mechanism to adjust the orientation of the hoisted object;

[0173] a position adjustment mode, when the motion instruction represents horizontal and / or vertical position adjustment, controlling the mass distribution adjustment mechanism and the rope drive mechanism to fine-tune the horizontal position of the hoisted object;

[0174] Attitude adjustment mode, when the motion instruction represents horizontal attitude adjustment, controlling the rope drive mechanism to fine-tune the attitude of the hoisted object, or controlling the rope drive mechanism and the mass distribution adjustment mechanism to fine-tune the attitude of the hoisted object;

[0175] a sway suppression mode, controlling the thruster to provide sway damping for the hoisting equipment when the motion instruction indicates sway suppression;

[0176] The data processing device controls and schedules the steering adjustment mode, the position adjustment mode, the posture adjustment mode, and the sway suppression mode according to preset safety rules.

[0177] The lifting posture control method introduced in this embodiment three is basically consistent with the technical solutions of the lifting posture control system described in the aforementioned embodiments one and two. This embodiment will not be described in detail here. The specific implementation method can refer to the technical solutions of the lifting posture control system described in the aforementioned embodiments one and two.

[0178] In addition, in one embodiment, the hoisting posture control method provided in this embodiment further includes the following steps:

[0179] Step A1: The human-computer interaction device stores the adjustment control instruction in a preset cache area as a current cache instruction;

[0180] Step A2: the data processing device generates current simulated posture information for the hoisted object according to the current cache instruction;

[0181] Step A3: The computer-aided vision system displays the current simulated posture information of the hoisted object in the preset visualization area;

[0182] Step A4: The human-computer interaction device responds to the user's instruction sending operation and sends the current cache instruction to the data processing device, so that the data processing device controls the lifting equipment according to the current cache instruction to adjust the posture of the lifting object.

[0183] It is understandable that once the tower crane operator makes an accurate judgment on the current actual position of the module to be installed and the target installation position, the tower crane operator can begin to adjust the joystick on the human-machine interaction device, such as a horizontal position knob with 2 degrees of freedom, a vertical position knob (VPK) with 1 degree of freedom, and a steering angle knob with 1 degree of freedom. The corresponding adjustment control instructions will be cached in a preset cache area of ​​the human-machine interaction device as the current cache instruction. The preset visualization area will present the visualization result of the current simulated posture information generated based on the current cache instruction. At the same time, the visualization area will also display the predicted posture information related to the adjustment suggestion data, the current posture information of the hoisted object, and the visualization result corresponding to the target position posture.

[0184] The crane operator can compare and analyze the visualization of the current simulated posture information with the corresponding visualizations of the predicted posture information, current posture information, and target position posture of the hoisted object, using the analysis results as a reference to determine the desired operational requirements. The crane operator can then continuously operate the joystick and buttons on the human-machine interaction device to adjust the current cached instructions in the preset buffer area until they are satisfied with the current simulated posture information. The crane operator can then press the "Confirm Joystick Operation" button to send the current cached instructions in the preset buffer area to the data processing device, causing the data processing device to control the hoisting equipment based on the current cached instructions to adjust the posture of the hoisted object. The crane operator can also reset the current cached instructions in the preset buffer area to zero. Displaying the current simulated posture information, predicted posture information, and current posture information of the hoisted object in the visualization area can provide a reference for the crane operator's decision-making. The crane operator can then operate the human-machine interaction device to adjust the current cached instructions in the preset buffer area until they are satisfied with the current simulated posture information, improving the crane operator's operational experience.

[0185] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional systems, devices, and controllers is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0186] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program, when executed by the processor, can implement the steps of the above-mentioned various method embodiments. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include at least: any entity or device capable of carrying the computer program code to an electronic device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electric carrier signal, a telecommunication signal and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, a computer-readable medium cannot be an electric carrier signal or a telecommunication signal.

[0187] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0188] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A hoisting pose control system, characterized in that, The hoisting position and attitude control system is applied to a hoisting device, which is connected to a hoisted object. The hoisting position and attitude control system includes a data processing device; Among them, the hoisting device includes a tension sensor, an inertial measurement unit, and a displacement sensor. The tension sensor is used to detect the current tension of the rope of the hoisting device. The inertial measurement unit is used to detect the spatial attitude data of the hoisted object. The displacement sensor is used to measure the displacement data of the hoisting frame of the hoisting device relative to the steering control mechanism; Among them, the hoisting device further includes a mass distribution adjustment mechanism, a rope drive mechanism, a steering drive mechanism, and a thruster; Among them, the data processing device includes a mass distribution controller, a rope length controller, a steering controller, and a thrust controller; The data processing device is used to obtain a motion instruction for the hoisted object, and the motion instruction is used to control the hoisting device to adjust the position and attitude of the hoisted object relative to the target installation position; The data processing device is further used to execute the following function modes based on the motion instruction in combination with the current tension of the rope, the spatial attitude data, and the displacement data: Steering adjustment mode: When the motion instruction represents steering control, the steering controller is called to control the steering drive mechanism to adjust the orientation of the hoisted object; Position adjustment mode: When the motion instruction represents horizontal and / or vertical position adjustment, the rope length controller is called to control the rope drive mechanism, or the rope length controller and the mass distribution controller are called to control the rope drive mechanism and the mass distribution adjustment mechanism to finely adjust the horizontal and vertical positions of the hoisted object; Attitude adjustment mode: When the motion instruction represents horizontal attitude adjustment, the rope length controller is called to control the rope drive mechanism to finely adjust the attitude of the hoisted object, or the rope length controller and the mass distribution controller are called to control the rope drive mechanism and the mass distribution adjustment mechanism to finely adjust the attitude of the hoisted object; Vibration suppression mode: When the motion instruction represents vibration suppression, the thrust controller is called to control the thruster to provide swing damping for the hoisting device; The data processing device is further used to make control scheduling for the steering adjustment mode, the position adjustment mode, the attitude adjustment mode, and the vibration suppression mode according to preset safety rules.

2. The hoisting position and attitude control system according to claim 1, wherein: During the execution of the steering adjustment mode, the position adjustment mode, or the attitude adjustment mode by the data processing device, if it is detected that the hoisting state of the hoisted object reaches a preset sway amplitude and / or a preset swing speed, the steering adjustment mode, the position adjustment mode, or the attitude adjustment mode is closed, and the vibration suppression mode is started to suppress the sway of the hoisted object; Wherein, during the execution of the steering adjustment mode or the position adjustment mode by the data processing device, if it is detected that the hoisting state of the hoisted object reaches a preset horizontal inclination error, the steering adjustment mode or the position adjustment mode is closed, and the attitude adjustment mode is started to adjust the horizontal attitude of the hoisted object.

3. The hoisting pose control system according to claim 1, wherein, The hoisting pose control system further includes a computer-aided vision system and a human-machine interaction device; The computer-aided vision system is used to identify the pose error of the hoisted object relative to the target installation position and generate adjustment suggestion data based on the pose error; Display prediction pose information related to the adjustment suggestion data in a preset visualization area; The human-machine interaction device is used to respond to the user's adjustment control instruction; The computer-aided vision system is further used to display prediction pose information related to the adjustment control instruction in the preset visualization area; Wherein, the motion instruction is the adjustment control instruction or the adjustment suggestion data.

4. The hoisting pose control system according to any one of claims 1 to 3, characterized in that, The hoisting device further includes a hoisting frame and a hoisting tool. The hoisting tool is connected to the hoisting frame or the mass distribution adjustment mechanism and is used to connect the hoisted object; the mass distribution adjustment mechanism is connected to the hoisting frame and is used to adjust the mass distribution of the combination of the hoisted object and the hoisting frame to cooperate with the rope drive mechanism to realize the horizontal position adjustment of the hoisted object; The rope drive mechanism is connected to the hoisting frame and is used to adjust the attitude of the hoisted object to keep the hoisted object in a horizontal attitude; The rope drive mechanism is further used to cooperate with the mass distribution adjustment mechanism to adjust the position of the hoisted object in the horizontal direction; The rope drive mechanism is further used to adjust the position of the hoisted object in the vertical direction.

5. The hoisting pose control system according to claim 4, characterized in that, The hoisting pose control system further includes a plurality of thrusters, and the plurality of thrusters are arranged on the hoisting frame or on the hoisted object; The data processing device is further used to calculate the speed of the hoisting frame according to the spatial attitude data measured by the inertial measurement unit during the start of the sway suppression mode, and calculate the desired damping force and direction required by each thruster according to the speed of the hoisting frame, and call the thruster controller to control each thruster to work according to the desired damping force and direction to achieve oscillation suppression.

6. The hoisting pose control system according to claim 3, wherein The computer-aided vision system includes a plurality of image sensors. Each image sensor of the computer-aided vision system is arranged at the side corner position of the hoisting frame. Each image sensor is used to collect current image information, and the current image data includes the image information corresponding to the current pose of the hoisted object and the image information corresponding to the target installation position; The hoisting pose control system further includes an inertial measurement unit, and the inertial measurement unit is arranged at the surface corner position of the hoisting frame and is used to detect the spatial attitude data of the hoisted object; Wherein, the image sensor and the inertial measurement unit are used to cooperate with the computer-aided vision system to identify the pose error of the hoisted object relative to the target installation position.

7. The hoisting pose control system according to claim 6, characterized in that The computer-aided vision system further includes an augmented reality display device for displaying predicted pose information related to the adjustment suggestion data, the current pose information of the hoisted object, and the target position and pose.

8. A hoisting pose control method, characterized in that, The hoisting pose control method is applied to a data processing device of the hoisting pose control system according to any one of claims 1-7. The hoisting pose control system is applied to a hoisting device, and the hoisting device is connected to a hoisted object. The hoisting device includes a tension sensor, an inertial measurement unit, and a displacement sensor; The tension sensor is used to detect the current tension of the rope of the hoisting device; the inertial measurement unit is used to detect the spatial pose data of the hoisted object; the displacement sensor is used to measure the displacement data of the hoisting frame of the hoisting device relative to the steering control mechanism; The hoisting device further includes a mass distribution adjustment mechanism, a rope drive mechanism, a steering drive mechanism, and a thruster; The control method includes: The data processing device obtains a motion instruction for the hoisted object, and the motion instruction is used to control the hoisting device to adjust the position and pose of the hoisted object relative to the target installation position; Based on the motion instruction and in combination with the current tension of the rope, the spatial pose data, and the displacement data, the data processing device executes the following function modes, including: Steering adjustment mode: When the motion instruction represents steering control, control the steering drive mechanism to adjust the azimuth of the hoisted object; Position adjustment mode: When the motion instruction represents horizontal and / or vertical position adjustment, control the mass distribution adjustment mechanism and the rope drive mechanism to finely adjust the horizontal position of the hoisted object; Pose adjustment mode: When the motion instruction represents horizontal pose adjustment, control the rope drive mechanism to finely adjust the pose of the hoisted object, or control the rope drive mechanism and the mass distribution adjustment mechanism to finely adjust the pose of the hoisted object; Vibration suppression mode: When the motion instruction represents vibration suppression, control the thruster to provide swing damping for the hoisting device; The data processing device makes control scheduling for the steering adjustment mode, the position adjustment mode, the pose adjustment mode, and the vibration suppression mode according to preset safety rules. The step of the data processing device making control scheduling for the steering adjustment mode, the position adjustment mode, the pose adjustment mode, and the vibration suppression mode according to preset safety rules further includes:

9. The control method according to claim 8, characterized in that During the execution of the steering adjustment mode, the position adjustment mode, or the pose adjustment mode, if the data processing device detects that the hoisting state of the hoisted object reaches a preset vibration amplitude and / or a preset swing speed, then start the vibration suppression mode to suppress the vibration of the hoisted object; Or During the execution of the steering adjustment mode or the position adjustment mode, if the data processing device detects that the hoisting state of the hoisted object reaches a preset horizontal inclination error, then start the pose adjustment mode to adjust the horizontal pose of the hoisted object. ​ 10. The control method according to claim 8, characterized in that The control system further includes a computer-aided vision system and a human-computer interaction device, and the control method further includes: The computer-aided vision system identifies the pose error of the hoisted object relative to the target installation position, and generates adjustment recommendation data based on the pose error; The computer-aided vision system displays predicted pose information related to the adjustment recommendation data in a preset visualization area; The human-computer interaction device responds to the user's adjustment control instruction and sends the adjustment control instruction to the data processing device; The data processing device controls the hoisting equipment to adjust the pose of the hoisted object according to the motion instruction, where the motion instruction is the adjustment control instruction or the adjustment recommendation data.

11. The hoisting pose control system according to claim 8, characterized in that, During the process of starting the steering adjustment mode, the position adjustment mode, and / or the attitude adjustment mode, the control method further includes: The data processing device determines the current states of the hoisting equipment and the hoisted object according to the spatial attitude data and the displacement data; Based on the current states, a motion plan is established for the mass distribution adjustment mechanism, the rope driving mechanism, and the steering driving mechanism to drive the hoisted object to be adjusted from the current pose to the required target pose according to the motion plan.

12. The hoisting posture control system according to claim 8, wherein During the process of starting the steering adjustment mode and / or the position adjustment mode and / or the attitude adjustment mode, the control method further includes: The data processing device obtains the current tension of the rope detected by the tension sensor, and when the current tension of the rope is less than the preset tension threshold, controls the rope driving mechanism to shorten the rope length corresponding to the rope by calling the rope length controller to finely adjust the attitude of the hoisted object; or, when the current tension of the rope is greater than the preset tension threshold, controls the rope driving mechanism to slightly increase the rope length corresponding to the rope by calling the rope length controller to finely adjust the attitude of the hoisted object.

13. The hoisting pose control method according to claim 10, characterized in that, The computer-aided vision system includes a plurality of image sensors, and each image sensor is used to collect current image information. The current image data includes the image information corresponding to the current pose of the hoisted object and the image information corresponding to the target installation position; The computer-aided vision system identifies the pose error of the hoisted object relative to the target installation position, based on the pose error to generate adjustment recommendation data, including: The computer-aided vision system performs image model reconstruction on each of the current image information in a virtual scene based on the spatial attitude data to obtain a simulated reconstructed image; where the simulated reconstructed image includes the current pose information of the hoisted object and the target position attitude; Based on the simulated reconstructed image, identify the pose error of the hoisted object relative to the target installation position, and generate adjustment recommendation data based on the pose error; In a preset visualization area, display the predicted pose information related to the adjustment recommendation data, the current pose information of the hoisted object, and the target position attitude.

14. The hoisting pose control method according to claim 13, characterized in that, The control method further includes: The data processing device obtains the spatial attitude data and the current image information; Detect whether the hoisting state of the hoisted object reaches a preset horizontal inclination error based on the spatial attitude data and / or the current image information; Detect whether the hoisting state of the hoisted object reaches a preset sway amplitude and / or a preset swing speed threshold based on the spatial attitude data and / or the current image information.

15. The hoisting pose control method according to any one of claims 10 to 14, characterized in that The hoisting pose control method further includes: The human-machine interaction device stores the adjustment control instruction in a preset cache area as the current cache instruction; The data processing device generates current simulated attitude information for the hoisted object according to the current cache instruction; The computer-aided vision system displays the current simulated attitude information of the hoisted object in the preset visualization area; The human-machine interaction device responds to the user's instruction sending operation and sends the current cache instruction to the data processing device, so that the data processing device controls the hoisting equipment according to the current cache instruction to adjust the pose of the hoisted object.

Images