CN108502726B - Deflection calibration tower crane and deflection calibration method of lifting hook thereof - Google Patents

Deflection calibration tower crane and deflection calibration method of lifting hook thereof Download PDF

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Publication number
CN108502726B
CN108502726B CN201810602081.0A CN201810602081A CN108502726B CN 108502726 B CN108502726 B CN 108502726B CN 201810602081 A CN201810602081 A CN 201810602081A CN 108502726 B CN108502726 B CN 108502726B
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Prior art keywords
yaw
deflection
distance
angle
measuring device
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CN108502726A (en
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周命端
谢正双
周乐皆
王坚
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Beijing University of Civil Engineering and Architecture
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Beijing University of Civil Engineering and Architecture
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/03—Cranes with arms or jibs; Multiple cranes
    • B66C2700/0392—Movement of the crane arm; Coupling of the crane arm with the counterweights; Safety devices for the movement of the arm

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

The invention relates to a deflection calibration tower crane and a deflection calibration method of a lifting hook thereof, wherein the crane comprises a hanging mechanism, and a movable pulley device of the hanging mechanism is connected with a movable trolley through a first rope segment; the lifting hook is connected with the movable pulley device through a second rope segment; the measurement and control unit is used for controlling and measuring the rotation angle of the tower arm and the sliding distance of the movable trolley; the deflection measuring device is arranged at the bottom of the movable pulley device and used for measuring deflection data of the lifting hook; the processing unit is in communication connection with the measurement and control unit and the deflection measuring device and is used for controlling the tower arm to rotate and the movable trolley to slide so as to offset the swing of the lifting hook. The invention can perform real-time anti-swing adjustment on the swing of the movable pulley device and the lifting hook.

Description

Deflection calibration tower crane and deflection calibration method of lifting hook thereof
Technical Field
The invention relates to the technical field of building construction, in particular to a deflection calibration tower crane and a deflection calibration method of a lifting hook of the deflection calibration tower crane.
Background
In the process of operation of the tower crane, in order to accurately complete the lifting operation, the lifting hook needs to be accurately moved to a working position and kept in a stable posture at the working position, so that the cargo can be accurately lifted. However, in the actual working process, because the rope section connected with the lifting hook is flexible, in the process of high-altitude operation, the rope section is easily influenced by wind power to swing, and then the lifting hook is driven to move and swing, so that the lifting hook can not accurately lift the goods. On the other hand, after the goods are lifted by the lifting hook, when the rope section and the lifting hook swing greatly, the lifted goods may be thrown off from the lifting hook, and safety accidents are easily caused. Meanwhile, when the rope section is close to the support of the crane, the swinging of the lifting hook and the rope section can cause the collision of the goods and the support, and the equipment is damaged.
The above information disclosed in the background section is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not form the prior art that is known to a person of ordinary skill in the art.
Disclosure of Invention
In view of the above, embodiments of the present invention are intended to provide a method for calibrating the yaw of a tower crane and a hook thereof, so as to solve or alleviate the technical problems in the prior art, and to provide at least one useful choice.
The technical scheme of the embodiment of the invention is realized as follows:
according to an embodiment of the present invention, there is provided a yaw alignment tower crane including:
the device comprises a support, a lifting mechanism and a lifting mechanism, wherein a tower arm is arranged on the support, and a moving trolley is connected on the tower arm in a sliding manner;
the hanging mechanism comprises a first rope section, a second rope section, a movable pulley device and a lifting hook; the movable pulley device is connected with the movable trolley through the first rope section, and the first rope section drives the movable pulley device to perform lifting motion; the lifting hook is connected with the movable pulley device through the second rope segment;
the measurement and control unit is used for measuring the rotating azimuth angle of the tower arm and the sliding distance of the movable trolley, and controlling the tower arm to rotate and the movable trolley to slide;
the deflection measuring device is arranged at the bottom of the movable pulley device and used for measuring deflection data of the lifting hook;
and the processing unit is in communication connection with the measurement and control unit and the deflection measuring device and is used for controlling the tower arm to rotate and the movable trolley to slide according to the deflection data, the current rotating azimuth angle of the tower arm and the current moving distance of the movable trolley so as to offset the swinging of the lifting hook.
In some embodiments, the lifting device further comprises a control unit for controlling the lifting height of the first rope segment driving the movable pulley device and the lifting hook.
In some embodiments, the center of the run-out measuring device and the center of the movable pulley device are located on the same line when both the first rope segment and the second rope segment are in a vertical state.
In some embodiments, the yaw measurement device includes an indium tile circular bar code digital horizontal scale and a laser signal emitter.
The embodiment of the invention also provides a deflection calibration method for calibrating the deflection of the hook of the tower crane, which is applied to the crane in any embodiment, and the method comprises the following steps:
recording the current rotation azimuth angle of the tower arm and the current sliding distance of the movable trolley through the measurement and control unit;
the deflection measuring device measures the deflection data of the lifting hook;
according to the deflection data, the current rotating azimuth angle of the tower arm and the current sliding distance of the movable trolley, the processing unit calculates the angle to be rotated of the tower arm and the distance to be slid of the movable trolley;
according to the calculated angle to be rotated and the calculated distance to be slid, the measurement and control unit controls the tower arm to rotate correspondingly and controls the mobile trolley to slide correspondingly so as to offset the swinging of the lifting hook.
In some embodiments, the yaw measuring device measures the yaw data, including measuring a vertical yaw angle of the hook, including the steps of:
acquiring a horizontal deflection angle and a horizontal deflection distance of the lifting hook relative to the deflection measuring device;
the calculation formula of the horizontal deflection angle is as follows:
α＝A；
the calculation formula of the horizontal deflection distance is as follows:
Figure GDA0002130211830000031
wherein α is the horizontal yaw angle, R is the horizontal yaw distance, a is the horizontal yaw angle measured by the yaw measuring device, R is the horizontal yaw distance, L is the length of the laser signal transmitter of the yaw measuring device on the second rope segment relative to the yaw measuring device, and L2 is the length of the second rope segment;
the calculation formula of the vertical yaw angle is as follows:
Figure GDA0002130211830000032
wherein R is the horizontal yaw distance, L2 is the length of the second rope segment, and β is the vertical yaw angle.
In some embodiments, the calculation formula of the distance to be slid is:
Figure GDA0002130211830000033
when the delta rho is larger than 0, the movable trolley moves towards the direction close to the support, and when the delta rho is smaller than 0, the movable trolley moves towards the direction far away from the support;
wherein Δ θ is the angle to be rotated of the tower arm, Δ ρ is the distance to be slid of the mobile cart, θ is the current rotation azimuth angle of the tower arm, ρ is the current movement distance of the mobile cart, L1 is the instantaneous length of the first rope segment, L2 is the length of the second rope segment, β is the vertical yaw angle, and α is the horizontal yaw angle.
In some embodiments, the method further comprises the step of driving the movable pulley device to move by adjusting the length to be extended of the first rope segment so as to counteract the swing of the lifting hook;
the calculation formula of the length to be placed of the first rope segment is as follows:
Figure GDA0002130211830000034
wherein Δ h is the length to be paid off of the first rope segment, L1 is the instantaneous length of the first rope segment, L2 is the length of the second rope segment, and β is the vertical yaw angle.
Due to the adoption of the technical scheme, the embodiment of the invention has the following advantages: according to the invention, the deflection measuring device is arranged on the movable pulley device, so that the real-time anti-swing adjustment of the swing of the movable pulley device and the lifting hook can be realized by combining the measurement and control unit and the processing unit. The invention can realize the purpose of preventing the movable pulley device and the lifting hook from swinging, thereby improving the overall use safety of the crane.
The foregoing summary is provided for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will be readily apparent by reference to the drawings and following detailed description.
Drawings
In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict only some embodiments in accordance with the disclosure and are therefore not to be considered limiting of its scope.
Fig. 1 is a schematic view of the overall structure of a crane according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a position of a movable pulley device of the crane according to the embodiment of the invention.
Fig. 3 is a flowchart of a hook yaw calibration method according to an embodiment of the present invention.
Fig. 4 is a schematic measurement diagram of a yaw measurement apparatus according to an embodiment of the present invention.
Fig. 5 is a block diagram of a crane according to an embodiment of the present invention.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; the connection can be mechanical connection, electrical connection or communication; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.
The following disclosure provides many different embodiments or examples for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or uses of other materials.
An embodiment of the present invention provides a yaw calibration tower crane, as shown in fig. 1 to 5, including:
the support 1 is provided with a rotatable tower arm 2. The tower arm 2 is connected with a movable trolley 3 in a sliding mode, and the movable trolley 3 can horizontally reciprocate along the tower arm 2.
The hanging mechanism 4 comprises a first rope section 5, a second rope section 6, a movable pulley device 7 and a lifting hook 8. The movable pulley device 7 is connected with the movable trolley 3 through the first rope section 5, and the first rope section 5 drives the movable pulley device 7 to move up and down. The hook 8 is connected with the movable pulley device 7 through the second rope segment 6.
And the measurement and control unit 12 is used for measuring the rotation azimuth angle of the tower arm 2 and the sliding distance of the mobile trolley 3, and is used for controlling the tower arm 2 to rotate and the mobile trolley 3 to slide. The measurement and control unit 12 can measure and record the current rotation angle of the tower arm 2 and the current moving distance of the mobile trolley 3 on the tower arm 2 in real time.
And the deflection measuring device 11 is arranged at the bottom of the movable pulley device 7, and the deflection measuring device 11 is used for measuring deflection data of the lifting hook 8.
And the processing unit 13 is in communication connection with the measurement and control unit 12 and the deflection measuring device 11, and is used for controlling the tower arm 2 to rotate and the movable trolley 3 to slide according to the deflection data, the current rotation angle of the tower arm 2 and the current moving distance of the movable trolley 3 so as to counteract the swing of the lifting hook 8.
In one embodiment, as shown in FIG. 5, the yaw measurement apparatus 11 includes an acquisition module 111 and a calculation module 112.
the obtaining module 111 is configured to obtain a horizontal yaw angle α and a horizontal yaw distance of the hook 8 relative to the yaw measuring device 11.
The calculating module 112 is configured to calculate a vertical yaw angle of the hook 8 according to the distance from the hook 8 to the yaw measuring device 11 and the horizontal yaw distance.
The formula for calculating the vertical yaw angle by the calculating module 112 is as follows:
Figure GDA0002130211830000061
wherein R is the horizontal yaw distance, L2 is the length of the second rope segment 6, and β is the vertical yaw angle.
In one embodiment, as shown in fig. 5, the processing unit 13 includes an angle calculation module 131 and a displacement calculation module 132.
The angle calculating module 131 is used for calculating the angle to be rotated of the tower arm 2.
The displacement calculation module 132 is used for calculating the distance to be slid of the tower arm 2.
The formula for calculating the distance to be slid by the displacement calculation module 132 is as follows:
Figure GDA0002130211830000062
when the delta rho is larger than 0, the movable trolley 3 moves towards the direction close to the support 1, and when the delta rho is smaller than 0, the movable trolley 3 moves towards the direction far away from the support 1;
wherein, Δ θ is the angle of rotation to be performed by the tower arm 2, Δ ρ is the distance of sliding to be performed by the mobile trolley 3, θ is the current rotation azimuth angle of the tower arm 2, ρ is the current moving distance of the mobile trolley 3, L1 is the instantaneous length of the first rope segment 5, L2 is the length of the second rope segment 6, β is the vertical yaw angle, and α is the horizontal yaw angle.
In one embodiment, the first rope portion 5 may be one rope portion, and after the first rope portion 5 is wound on the movable pulley device 7, two ends of the first rope portion 5 are respectively connected with the movable trolley 3, so that the first rope portion 5 is located at two sides of the movable pulley device 7.
In one embodiment, the crane further comprises a control unit for controlling the lifting height of the first rope portion 5 with the movable pulley device 7 and the hook 8. The length to be put of first rope segment 5 can be adjusted according to the beat data of movable pulley device 7 that detect, and supplementary hoist prevents rocking pendulum regulation and control to movable pulley device 7 and lifting hook 8.
In order to ensure the accuracy of the measurement and the anti-sway effect, the centers of the yaw measuring device 11 and the movable pulley device 7 are located on the same straight line when the first rope segment 5 and the second rope segment 6 are both in the vertical state.
in one embodiment, the yaw measuring device 11 comprises an indium tile circular bar code digital horizontal dial (shown in fig. 4) and a laser signal emitter 9. the laser signal emitter 9 is arranged on the second rope segment 6, the indium tile circular bar code digital horizontal dial is triggered by a laser signal emitted by the laser signal emitter 9, and the vertical yaw angle β and the horizontal yaw angle α of the hook 8 are measured according to a dial fixed point S of the laser signal emitted on the indium tile circular bar code digital horizontal dial.
In order to prevent the deflection measuring device 11 from being damaged by external environment during working at high altitude, a protective cover (not shown) may be sleeved on the movable pulley device 7, and the protective cover is used to protect the deflection measuring device 11 and the movable pulley device 7, and the protective cover does not interfere with the movement of the first rope segment 5 and the second rope segment 6.
In one embodiment, a GNSS (Global navigation satellite System) detection terminal 10 may be further included, and is disposed on the top of the movable pulley apparatus 7, and the GNSS detection terminal 10 is in communication connection with a GNSS base station, and is configured to receive differential correction signals of navigation satellites to obtain plane coordinate data and elevation data of the yaw measurement apparatus 11 on the movable pulley apparatus 7, so as to obtain more accurate yaw data. The GNSS detection end 10 is arranged opposite to the deflection measuring device 11, and the distance between the GNSS detection end 10 and the deflection measuring device 11 is equal to the diameter of the movable pulley device 7.
in one embodiment, an alarm device (not shown) may be disposed on the movable pulley device 7, and the alarm device is used for determining whether the vertical yaw angle β of the hook 8 exceeds a preset early warning angle, and if the vertical yaw angle β exceeds the preset early warning angle, an alarm signal for prompting the suspension operation is sent out, and the alarm device is also used for determining whether the horizontal yaw angle α exceeds the preset early warning angle, and if the horizontal yaw angle α exceeds the preset early warning angle, an alarm signal for prompting the suspension operation is sent out.
In a specific embodiment, the alarm device further comprises an acoustic alarm for sounding according to the alarm signal; and a light alarm for emitting flashing light according to the alarm signal. Of course, the alarm devices including, but not limited to, the above two alarms, and may also include an alarm device combining sound and light, etc., all of which are within the scope of the present embodiment.
The embodiment of the invention also provides a hook deflection calibration method, which can be applied to the crane in any embodiment. As shown in fig. 1-5, the method comprises:
step S100: and recording the current rotation azimuth angle of the tower arm 2 and the current sliding distance of the movable trolley 3 through the measurement and control unit 12.
Step S200: the yaw measuring device 11 measures the yaw data of the hook 8.
Step S300: according to the deflection data, the current rotating azimuth angle of the tower arm 2 and the current sliding distance of the movable trolley 3, the processing unit 13 calculates the angle to be rotated of the tower arm 2 and the distance to be slid of the movable trolley 3.
Step S400: according to the calculated angle to be rotated and the distance to be slid, the measurement and control unit 12 controls the tower arm 2 to rotate correspondingly and controls the mobile trolley 3 to slide correspondingly so as to counteract the swing of the lifting hook 8.
In one embodiment, the yaw measuring device 11 measures yaw data, including measuring the vertical yaw angle of the hook 8, comprising the steps of:
the horizontal yaw angle and the horizontal yaw distance of the hook 8 relative to the yaw measuring device 11 are obtained.
And calculating the vertical deflection angle of the lifting hook 8 according to the distance from the lifting hook 8 to the deflection measuring device 11 and the horizontal deflection distance.
The calculation formula of the horizontal deflection angle is as follows:
α＝A；
the calculation formula of the horizontal deflection angle is as follows:
Figure GDA0002130211830000081
wherein α is a horizontal yaw angle of the hook 8 relative to the yaw measuring device 11, R is a horizontal yaw distance of the hook 8 relative to the yaw measuring device 11, a is a horizontal yaw angle measured by the yaw measuring device 11, R is a horizontal yaw distance measured by the yaw measuring device 11, L is a length of the laser signal transmitter 9 of the yaw measuring device 11 on the second rope segment 6 relative to the yaw measuring device 11, and L2 is a length of the second rope segment 6.
The calculation formula of the vertical deflection angle is as follows:
Figure GDA0002130211830000082
wherein R is the horizontal yaw distance, L2 is the length of the second rope segment 6, and β is the vertical yaw angle.
In one embodiment, the distance to be slid is calculated by the formula:
Figure GDA0002130211830000091
when the delta rho is larger than 0, the movable trolley 3 moves towards the direction close to the support 1, and when the delta rho is smaller than 0, the movable trolley 3 moves towards the direction far away from the support 1;
wherein, Δ θ is the angle of rotation to be performed by the tower arm 2, Δ ρ is the distance of sliding to be performed by the mobile trolley 3, θ is the current rotation azimuth angle of the tower arm 2, ρ is the current moving distance of the mobile trolley 3, L1 is the instantaneous length of the first rope segment 5, L2 is the length of the second rope segment 6, β is the vertical yaw angle, and α is the horizontal yaw angle.
In one embodiment, the method further comprises moving the movable pulley device 7 by adjusting the length of the first rope segment 5 to be unwound so as to counteract the swinging of the hook 8:
the formula for calculating the length to be paid off of the first rope portion 5 is:
Figure GDA0002130211830000092
where Δ h is the length to be paid off of the first rope segment 5, L1 is the instantaneous length of the first rope segment 5, L2 is the length of the second rope segment 6, and β is the vertical yaw angle.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various changes or substitutions within the technical scope of the present invention, and these should be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims (6)

1. A yaw alignment tower crane, comprising:
the device comprises a support, a lifting mechanism and a lifting mechanism, wherein a tower arm is arranged on the support, and a moving trolley is connected on the tower arm in a sliding manner;
the hanging mechanism comprises a first rope section, a second rope section, a movable pulley device and a lifting hook; the movable pulley device is connected with the movable trolley through the first rope section, and the first rope section drives the movable pulley device to perform lifting motion; the lifting hook is connected with the movable pulley device through the second rope segment;
the measurement and control unit is used for measuring the rotating azimuth angle of the tower arm and the sliding distance of the movable trolley, and controlling the tower arm to rotate and the movable trolley to slide;
the deflection measuring device is arranged at the bottom of the movable pulley device and used for measuring deflection data of the lifting hook; the deflection measuring device comprises an indium tile circular bar code digital horizontal dial and a laser signal transmitter, wherein the indium tile circular bar code digital horizontal dial is arranged at the bottom of the movable pulley device, and the laser signal transmitter is arranged on the second rope section;
the GNSS detection end is arranged at the top of the movable pulley device and is in communication connection with a GNSS base station;
and the processing unit is in communication connection with the measurement and control unit and the deflection measuring device and is used for controlling the tower arm to rotate and the movable trolley to slide according to the deflection data, the current rotating azimuth angle of the tower arm and the current moving distance of the movable trolley so as to adjust the swinging of the lifting hook.
2. The crane according to claim 1, further comprising a control unit for controlling the lifting height of the first rope portion for driving the movable sheave device and the hook.
3. The crane according to claim 1, wherein the center of the yaw measuring device is aligned with the center of the movable sheave device when the first rope segment and the second rope segment are in a vertical state.
4. A yaw calibration method for calibrating the yaw of a tower crane hook, the method being applied to a crane according to any one of claims 1 to 3, the method comprising:
recording the current rotation azimuth angle of the tower arm and the current sliding distance of the movable trolley through the measurement and control unit;
the deflection measuring device measures the deflection data of the lifting hook;
according to the deflection data, the current rotating azimuth angle of the tower arm and the current sliding distance of the movable trolley, the processing unit calculates the angle to be rotated of the tower arm and the distance to be slid of the movable trolley;
according to the calculated angle to be rotated and the calculated distance to be slid, the measurement and control unit controls the tower arm to rotate correspondingly and controls the movable trolley to slide correspondingly so as to adjust the swinging of the lifting hook.
5. The yaw calibration method of claim 4, wherein the yaw measuring device measures the yaw data, including measuring a vertical yaw angle of the hook, comprising the steps of:
acquiring a horizontal deflection angle and a horizontal deflection distance of the lifting hook relative to the deflection measuring device;
the calculation formula of the horizontal deflection angle is as follows:
α＝A；
the calculation formula of the horizontal deflection distance is as follows:
Figure FDA0002373796520000021
wherein α is the horizontal yaw angle of the hook relative to the yaw measuring device, R is the horizontal yaw distance of the hook relative to the yaw measuring device, a is the horizontal yaw angle measured by the yaw measuring device, R is the horizontal yaw distance measured by the yaw measuring device, L is the length of a laser signal transmitter of the yaw measuring device on a second rope segment relative to the yaw measuring device, and L2 is the length of the second rope segment;
the calculation formula of the vertical yaw angle is as follows:
Figure FDA0002373796520000022
wherein R is the horizontal yaw distance, L2 is the length of the second rope segment, and β is the vertical yaw angle.
6. The yaw calibration method of claim 5,
the calculation formula of the distance to be slid is as follows:
Figure FDA0002373796520000023
when the delta rho is larger than 0, the movable trolley moves towards the direction close to the support, and when the delta rho is smaller than 0, the movable trolley moves towards the direction far away from the support;
wherein Δ ρ is the distance to be slid of the mobile trolley, θ is the current rotation azimuth angle of the tower arm, ρ is the current movement distance of the mobile trolley, L1 is the instantaneous length of the first rope segment, L2 is the length of the second rope segment, β is the vertical yaw angle, and α is the horizontal yaw angle.
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