CN113682956A - Automatic material environment condition identification and analysis method and system for intelligent tower crane - Google Patents
Automatic material environment condition identification and analysis method and system for intelligent tower crane Download PDFInfo
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- CN113682956A CN113682956A CN202110815350.3A CN202110815350A CN113682956A CN 113682956 A CN113682956 A CN 113682956A CN 202110815350 A CN202110815350 A CN 202110815350A CN 113682956 A CN113682956 A CN 113682956A
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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
- 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
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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
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
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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
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The application discloses a method and a system for automatically identifying and analyzing the material environment condition of an intelligent tower crane, which comprises the steps of firstly collecting the airflow condition near a hoisting piece in real time in the hoisting process of the hoisting piece, then the current deflection state of the lifting piece is obtained based on the wind area of the lifting piece, the airflow condition at the previous moment and the current lifting stage, then predicting the deflection state of the lifting piece based on the current change condition of the airflow condition and the stage switching condition of the lifting stage, and finally when the predicted deflection angle reaches an over-angle threshold value, pre-adjusting the execution parameters of the execution mechanism under the current lifting stage, which are related to the expected movement of the lifting piece, until the predicted deflection angle is lower than the over-angle threshold value, and when the predicted deflection angle is not larger than the micro-angle threshold value, and pre-adjusting the execution parameters of the execution mechanism under the current lifting stage, which are related to the expected movement of the lifting piece, within the parameter allowable range. The method can improve the stability of the lifting appliance and the material.
Description
Technical Field
The application relates to the technical field of environment recognition, in particular to a method and a system for automatically recognizing and analyzing material environment conditions of an intelligent tower crane.
Background
The tower crane is also called a tower crane, is a common hoisting device on construction sites, and is used for hoisting building materials such as reinforcing steel bars, wood ridges, concrete, steel pipes and the like required by construction. In the mechanical structure of the tower crane, an actuating mechanism for actually hoisting materials is a lifting hook, before each time of hoisting the materials, the lifting hook is controlled by a pulley to descend to the position near the upper part of the materials, the materials are loaded in a lifting appliance of a stacking area or packed on the lifting appliance of the stacking area, a steel cable or a connecting structure is sleeved on the lifting appliance to serve as a lifting part of the lifting appliance, the lifting part serves as a medium sleeved with the lifting hook, the lifting part can be placed on the hook-shaped surface on the inner side of the lifting hook, then the lifting hook is controlled by the pulley to lift, and the lifting part drives the lifting appliance and the materials in or on the lifting appliance to lift off the ground.
In the handling in-process, the hoist that reprints the material can receive the influence that external environment applyed, for example receive the air current influence and swing, in addition, the going on of handling process also can produce the state change to the hoist, for example the tower crane drives the hoist and can change the position height and the orientation of hoist when going up and down and turning to. The influence exerted by the external environment and the state change of the lifting appliance can also influence the lifting process in return, and can be used as an unstable factor in the lifting process to cause the instability of the lifting appliance, and even can influence the smooth observation of the state of the lifting appliance, so that the detection and identification of the environment state in the lifting process are a problem which needs to be solved urgently at present.
Disclosure of Invention
Based on this, in order to improve the stability of hoist in handling process, avoid cable wire and hoist to take place to damage, improve the quality of observing the hoist state, this application discloses following technical scheme.
On the one hand, the automatic material environment condition identification and analysis method for the intelligent tower crane is provided, and comprises the following steps:
acquiring the airflow conditions near the lifting piece in real time in the lifting process of the lifting piece, wherein the airflow conditions comprise the wind direction and the wind speed;
obtaining the current deflection state of the lifting piece based on the wind area of the lifting piece, the airflow condition at the previous moment and the current lifting stage, wherein the deflection state comprises a deflection direction and a deflection angle;
predicting the deflection state of the lifting piece based on the current change condition of the airflow condition and the stage switching condition of the lifting stage;
when the predicted deflection angle reaches an over-angle threshold value, the execution parameters of the execution mechanism under the current hoisting stage, which are related to the expected movement of the hoisting piece, are pre-adjusted downwards until the predicted deflection angle is lower than the over-angle threshold value, and when the predicted deflection angle is not larger than a micro-angle threshold value, the execution parameters of the execution mechanism under the current hoisting stage, which are related to the expected movement of the hoisting piece, are pre-adjusted upwards within a parameter permission range.
In a possible implementation manner, the obtaining of the current deflection state of the lifting piece based on the wind area of the lifting piece, the airflow condition at the previous moment and the current lifting stage includes:
acquiring a basic posture of the hoisting piece based on the current hoisting stage of the hoisting piece;
establishing a sweeping plane vertical to the wind direction, sweeping the lifting piece under the basic posture through the sweeping plane, and taking the maximum cross-sectional area obtained by sweeping as the wind area;
obtaining the thrust of the airflow borne by the lifting piece based on the wind-borne wind speed and the wind-borne area;
and obtaining a deflection state based on the thrust and the weight of the lifting piece.
In a possible embodiment, the predicting the swing state of the lifting piece based on the current variation condition of the airflow condition and the phase switching condition of the lifting phase includes:
acquiring the wind direction and the wind speed after the air flow condition changes, and acquiring the stage switching condition after a certain time, wherein the stage switching condition comprises that switching is not needed to be started, switching is to be started and switching is performed;
obtaining the thrust and the direction of the lifting piece under the changed wind direction and wind speed, and obtaining the traction and the direction of the lifting piece under the stage switching condition after the certain time;
and predicting the deflection state of the lifting piece based on the thrust and the direction thereof and the traction and the direction thereof.
In a possible implementation manner, when the deflection state is predicted, the deflection state is predicted based on a lifting speed section where an executing mechanism is located at the current lifting stage, wherein the lifting speed section comprises an accelerating section, a constant speed section, a decelerating section and a stopping section.
In one possible embodiment, the method further comprises:
obtaining the orientation change of image acquisition equipment according to a lifting route contained in a lifting task, wherein the image acquisition equipment is installed on a lifting piece or a tower crane assembly and is used for carrying out image acquisition on the lifting piece;
obtaining a relative position between the light source and the image acquisition device based on the position of the light source in the environment;
and obtaining the predicted orientation of the image acquisition equipment in the orientation change based on the pre-adjusted deflection state of the lifting piece, and adjusting the orientation of the image acquisition equipment based on the predicted orientation and the relative position to avoid the image acquisition equipment from directly facing a light source.
On the other hand, still provide a material environmental aspect automatic identification analytic system for intelligent tower crane, include:
the air flow condition acquisition module is used for controlling air flow condition acquisition equipment to acquire the air flow conditions near the lifting piece in real time in the lifting process of the lifting piece, wherein the air flow conditions comprise the wind direction and the wind speed;
the current deflection state acquisition module is used for acquiring the current deflection state of the hoisting piece based on the wind area of the hoisting piece, the airflow condition at the previous moment and the current hoisting stage, wherein the deflection state comprises a deflection direction and a deflection angle;
the future deflection state prediction module is used for predicting the deflection state of the lifting piece based on the current change condition of the airflow condition and the stage switching condition of the lifting stage;
and the execution parameter adjusting module is used for pre-adjusting the execution parameters of the executing mechanism under the current hoisting stage, which are related to the expected movement of the hoisting piece, to be lower than the over-angle threshold value when the predicted deflection angle reaches the over-angle threshold value, and pre-adjusting the execution parameters of the executing mechanism under the current hoisting stage, which are related to the expected movement of the hoisting piece, within the parameter permission range when the predicted deflection angle is not greater than the micro-angle threshold value.
In a possible implementation manner, the current yaw state obtaining module includes:
the basic posture acquiring unit is used for acquiring the basic posture of the hoisting piece based on the current hoisting stage of the hoisting piece;
the wind area acquisition unit is used for establishing a sweeping plane vertical to the wind direction of the wind, sweeping the lifting piece under the basic posture through the sweeping plane, and taking the maximum cross-sectional area obtained by sweeping as the wind area;
the airflow thrust computing unit is used for obtaining the thrust of the airflow received by the lifting piece based on the wind speed and the wind area;
and the deflection state calculating unit is used for obtaining a deflection state based on the thrust and the weight of the lifting piece.
In one possible implementation, the future yaw state prediction module includes:
the information acquisition unit is used for acquiring the wind direction and the wind speed after the air flow condition changes and acquiring stage switching conditions after a certain time, wherein the stage switching conditions comprise that switching is not required to be started, switching is about to be started and switching is performed;
the stress calculation unit is used for obtaining the thrust and the direction of the lifting piece under the changed wind direction and wind speed, and obtaining the traction and the direction of the lifting piece under the stage switching condition after the certain time;
and the deflection state prediction unit is used for predicting the deflection state of the lifting piece based on the thrust and the direction thereof and the traction and the direction thereof.
In a possible implementation manner, when the deflection state prediction unit predicts the deflection state, the deflection state prediction unit further predicts the deflection state based on a lifting speed section where the executing mechanism is located at a current lifting stage, where the lifting speed section includes an acceleration section, a constant speed section, a deceleration section, and a stop section.
In one possible embodiment, the system further comprises:
the image acquisition equipment is arranged on the lifting piece or the tower crane assembly and is used for acquiring images of the lifting piece;
the orientation change acquiring module is used for acquiring the orientation change of the image acquisition equipment according to the lifting route contained in the lifting task;
the relative position acquisition module is used for acquiring the relative position between the light source and the image acquisition equipment based on the position of the light source in the environment;
and the orientation adjusting module is used for obtaining the predicted orientation of the image acquisition equipment in the orientation change based on the pre-adjusted deflection state of the lifting piece, adjusting the orientation of the image acquisition equipment based on the predicted orientation and the relative position, and avoiding the image acquisition equipment from directly facing the light source.
The application discloses a method and a system for automatically identifying and analyzing the environmental conditions of materials for an intelligent tower crane, which are characterized in that the ambient environment of the materials being lifted on the tower crane is detected, particularly the airflow environment is detected, the parameter conditions which can influence the lifting of the materials in the environment are obtained, the degree of the materials being influenced by the parameter conditions and the lifting stage of the materials at present, particularly the degree of generated shaking and deflection, is predicted simultaneously, the damage to the lifting process under the combined action of the environment and the lifting stage is predicted according to the prediction result, particularly the damage caused by excessive friction of a steel cable, the rotation of the materials, the rotation of the material coils, the falling difficulty of the materials, the unstable structure of the tower crane and the like, at the moment, the lifting parameters of the tower crane, particularly the parameters in the speed control aspect can be controlled before the damage does not occur, the influence degree of the materials is reduced to a safe range, namely, the damage is avoided by prediction and parameter pre-adjustment, and the stability of the lifting appliance and the materials is improved.
Drawings
The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining and illustrating the present application and should not be construed as limiting the scope of the present application.
FIG. 1 is a schematic flow diagram of an embodiment of a method for automatically identifying and analyzing environmental conditions of materials of an intelligent tower crane disclosed by the application.
Figure 2 is a schematic view of the bin and the swept plane above it.
Figure 3 is a schematic cross-sectional view of the bin showing the largest area cross-section swept.
Fig. 4 is a schematic view of the bin rising vertically during the lift phase and unaffected by the airflow.
Fig. 5 is a schematic view of the deflection state of the bin after it has been raised vertically in the lift phase and has been affected by the air flow.
FIG. 6 is a block diagram of an embodiment of an automatic material environment condition identification and analysis system for an intelligent tower crane disclosed in the present application.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the drawings in the embodiments of the present application.
The embodiment of the automatic material environment condition identification and analysis method for the intelligent tower crane disclosed by the application is described in detail below with reference to fig. 1 to 5. As shown in fig. 1, the method disclosed in this embodiment includes the following steps 100 to 400.
And step 100, controlling an airflow condition acquisition device to acquire the airflow condition near the lifting piece in real time by an airflow condition acquisition module in the lifting process of the lifting piece.
The hoisting part is a lifting appliance loaded with materials, the materials can be round steel pipe columns, I-shaped steel, cement bags, tiles, glass, water pipes, canned paint, mechanical equipment and the like, and the lifting appliance can be a wooden tray or a steel tray or a wooden box or a steel box.
After the lifting piece is lifted, the lifting piece can deflect under the influence of air flow in the air, and in order to obtain the deflection condition, the condition that the lifting piece is influenced by the air flow needs to be obtained. The airflow conditions may specifically include a wind direction and a wind speed, and the airflow condition collecting device for collecting the airflow conditions may be a wind speed sensor and a wind direction sensor. Wind speed sensor and wind direction sensor can install on the hoist, also can install on the lifting hook of tower crane or other and hoist structure that the distance is close.
It can be understood that under the general condition, the hoist can not take place the rotation at the handling in-process, to the lifting hook of some tower cranes, be equipped with on the lifting hook can fix cable wire or other hoist and be used for the device with the subassembly that the lifting hook is connected, can avoid cable wire or coupling assembling to rotate in the horizontal direction almost, just also make the actual angle of rotation of hoist little to can neglect. For the lifting hook without the fixing device, the lifting speed, the steering speed and the like in the lifting process are controlled, and the lifting appliance can be almost prevented from rotating. Therefore, the wind direction sensor does not influence the accuracy of the measured data of the wind direction due to the extremely small amount of rotation of the lifting appliance in the lifting process.
And 200, the current deflection state acquisition module acquires the current deflection state of the hoisting piece based on the wind area of the hoisting piece, the airflow condition at the previous moment and the current hoisting stage.
The wind area of the lifting piece refers to the effective area of the lifting piece affected by the airflow under the current posture. The posture of the hoisting part when only being influenced by hoisting can be obtained through the hoisting stage, the reason that the contribution force of deflection of the hoisting part is the largest is caused by the hoisting stage, and the influence of air flow is only a secondary factor, so that the posture when only being influenced by hoisting is taken as the current posture (the posture at the current moment), namely the posture when being influenced by wind, and the wind direction is combined with the wind direction for operation, and the wind area can be obtained.
Although the lifting piece cannot rotate, deflection can occur due to the fact that steering, airflow influence and the like are involved in the lifting process, the deflection state can be influenced due to different lifting stages where the lifting piece is located, the deflection state can specifically comprise a deflection direction and a deflection angle, the deflection direction refers to the deflection direction of the lifting piece deviating from the original position, and the deflection angle refers to the included angle between the deflection direction and the original position when the pulley is used as the center of a circle.
For example, in the lifting stage of the lifting piece in the lifting stage, when the pulley controls the lifting rope (connecting the pulley and the lifting hook) to drive the lifting hook to lift, the lifting piece is lifted along with the lifting rope, when transverse or oblique airflow passes through the lifting piece at the previous moment in the lifting process, the lifting piece can generate deflection to a certain degree at the next moment due to the thrust of the airflow, the lifting rope can be changed from a state of being overlapped with a gravity center line vertical to the ground into an included angle with the gravity center line during deflection, the included angle is a deflection angle, and the direction of the included angle relative to the gravity center line is a deflection direction, wherein the influence factor of the deflection direction in the hoisting process is mainly the wind direction, and the deflection direction is the same as the wind direction, the influence factors of the deflection angle are mainly the wind speed and the wind area, and the larger the wind speed is, the larger the wind area is, the larger the deflection angle is. The yaw state at this time is generated only by the influence of the airflow.
For another example, in a horizontal turning stage in the hoisting stage, after the pulley hoists the hoisted piece to a certain height, under the condition that the height is kept unchanged, the swing mechanism drives the boom to horizontally rotate so as to drive the hoisted piece to perform circular motion, at this time, because the hoisted piece is subjected to centripetal force during the circular motion, a certain degree of deflection can occur as well, and an included angle can exist between the hoisting rope and the gravity center line, the included angle is a deflection angle, and the direction of the included angle relative to the gravity center line is a deflection direction, wherein the influence factor of the deflection direction in the turning process is mainly the turning direction, and the deflection direction is the same as the turning direction, and the influence factor of the deflection angle is mainly the turning speed, and the greater the deflection angle is the greater the turning speed is. The lifting piece is not affected by any air flow, so the deflection state is generated only by lifting in the lifting stage.
It will be appreciated that in the above-described horizontal turning stage or other stage where horizontal forces may be applied to the trolley, lateral or diagonal air currents may also be encountered, so that the deflection conditions at the next moment are the result of the combined application of the air currents and the trolley stage, and the result of the deflection conditions is the sum of the respective effects of the two. It should be noted that the yaw state obtained in step 200 is an instantaneous state, and corresponds to an instantaneous airflow condition.
It should be noted that the reason why the current deflection state is obtained by using the airflow state at the previous moment instead of the current airflow state is that there is a certain delay in the influence of the airflow state, so that the airflow state at the previous moment can be reflected on the deflection state of the lifting piece at the current moment, and the airflow state at the current moment can be reflected on the deflection state of the lifting piece only at the next moment, so that the airflow needs to be calculated by using the data at the previous moment.
And 300, predicting the deflection state of the lifting piece by a future deflection state prediction module based on the current change condition of the airflow condition and the stage switching condition of the lifting stage.
The air flow conditions in the air will change, and sometimes change in a very short time, for example, a horizontal southeast wind of 1m/s at time t1, and a sudden change to a 4 m/s co-directional wind at time t2, so the current change in air flow conditions is a constant wind direction and an increase in wind speed of 3 m/s. Of course, the airflow conditions may also be slowly changing, such as slowing the wind speed 4 m/s from time t3 until the current time t10 drops to 1.5 m/s, and may also continue to slowly drop.
Because the movement of the lifting piece has inertia, a certain time is needed for the lifting piece to reach a new position balance state after being influenced by the airflow, for example, the time of only 0.2s is used for increasing the wind speed from 1m/s to 4 m/s, if the wind speed of 4 m/s is kept all the time, the swing angle of the lifting piece is increased from the angle when the wind speed is 1m/s to the angle when the wind speed is 4 m/s and is stabilized, the time of 2s is needed for changing the deflection state, namely the reaction time of the lifting piece, and the position of the lifting piece is not changed after 2s when the lifting piece reaches the new stress balance state unless the lifting speed or the airflow state is changed again. Regarding the time length of one moment, the reaction time of the handling member to the change of the gas flow state can be taken as the time length of one moment, such as minimum reaction time, average reaction time, and the like.
Therefore, the deflection state can be predicted within the reaction time, and the predicted result can be obtained before the lifting piece reaches the deflection state corresponding to the airflow change, for example, after the wind speed changes from 1m/s, the prediction is carried out once every unit time, or every time the change degree of the wind speed or the wind direction reaches the wind speed change threshold or the wind direction change threshold, the prediction is carried out once, the predicted result is obtained, and if the wind direction or the wind speed is continuously changed, the prediction can be carried out for a plurality of times, and the predicted results of a plurality of different times can be obtained.
In addition to changes in the gas flow conditions, transitions and switching of the handling phase can also trigger predictions of yaw conditions, for example when the handling phase is switching from a lifting phase to a turning phase, or switching between a turning phase and a translation phase (movement of the luffing carriage), or switching from a translation phase or a turning phase to a lowering phase, etc., since changes and switching of the phases indicate changes in the yaw conditions and thus need to be predicted.
It should be noted that, in the aspect of the airflow state, the current deflection state is obtained by using the previous time, and the deflection state at the next time is predicted by using the current time, and in the aspect of the hoisting stage, because the deflection influence caused by the hoisting stage is much faster than the deflection influence caused by the airflow state, the deflection influence generated by the hoisting stage is regarded as the influence which is instantaneously effective, so that the current deflection state is obtained by using the hoisting stage at the current time, and the deflection state at the next time is predicted by using the hoisting stage which is about to occur at the next time.
When the deflection state is predicted, the influence of the current deflection state is estimated mainly according to the airflow change condition and the lifting stage change condition. If the wind speed is increased and the wind direction is unchanged in the lifting stage, the deflection angle is increased and the deflection direction is unchanged; if the wind speed is increased but the wind direction is opposite to the former wind direction in the lifting stage, the deflection angle is possibly decreased and then increased, the deflection direction is opposite to the former wind direction, namely the lifting piece swings from the original deflection side to the opposite deflection side; if the wind speed increases and the wind direction is always substantially the same as the turning direction in the turning stage, the yaw angle decreases, and even if the wind speed is too high, the yaw caused by the turning is cancelled, so that the yaw angle decreases first and then increases (downwind), and the yaw direction is substantially opposite to the former direction.
And 400, when the predicted deflection angle reaches an over-angle threshold value, the execution parameter adjusting module pre-adjusts the execution parameters of the executing mechanism under the current hoisting stage, which are related to the expected movement of the hoisting piece, to a value that the predicted deflection angle is lower than the over-angle threshold value, and when the predicted deflection angle is not greater than a micro-angle threshold value, the execution parameters of the executing mechanism under the current hoisting stage, which are related to the expected movement of the hoisting piece, are pre-adjusted within a parameter permission range.
No matter how the deflection direction changes, the deflection angle cannot be too large, otherwise the smooth operation of the hoisting process can be influenced, for example, the steering speed is too high in the steering stage, so that the deflection angle is too large, great friction can be generated between a steel cable and a lifting hook, the hoisting part can be rotated in a winding mode for a long time, so that the hoisting part cannot be stably descended to a specified place, and the structural stability of the tower crane is further damaged.
Therefore, the over-angle threshold is set to judge whether the deflection angle reaches the hazard degree, if the deflection angle is predicted to exceed the over-angle threshold, no matter how long the time for reaching the over-angle threshold is maintained, once the deflection angle is predicted to be increased to be more than or equal to the over-angle threshold at a certain moment, the situation that the smooth hoisting is possibly damaged is shown, and therefore relevant parameters are immediately adjusted to reduce the deflection angle, so that the predicted deflection angle is lower than the over-angle threshold. The relevant parameters refer to the execution parameters of the execution mechanism under the current hoisting stage, which are relevant to the expected motion of the hoisting member, for example, the current hoisting stage is a luffing stage, the execution mechanism is mainly a luffing mechanism, the execution parameters relevant to the expected motion of the hoisting member mainly comprise a luffing moving speed and can also be a luffing moving acceleration, and when the wind speed at the current t0 suddenly increases, the predicted yaw angle at the t1 moment can be increased and reach an over-angle threshold value, so that the luffing moving speed or the luffing moving acceleration can be immediately reduced, and when the predicted moment (t 1 moment) reaching the over-angle threshold value is reached, the luffing moving speed is reduced in advance, so that even if the wind speed increases and then influences on the hoisting member reach a balanced state, the balanced state can also counteract the effect caused by partial or even all wind speeds due to the reduction of the luffing moving speed, so that the deflection angle of the lifting piece under the combined action of the amplitude changing mechanism and the air flow at the time t1 can still not reach the over-angle threshold value.
The reason for setting the micro-angle threshold is to improve the transferring efficiency, when the transferring stage exists to drive the transferring part to move in the horizontal direction, if the deflection angle is very small and is small enough not to reach the micro-angle threshold (the micro-angle threshold is smaller than the over-angle threshold), the execution speed of the executing mechanism can be increased, the transferring efficiency can be improved, the safety and the stability of transferring can be guaranteed, the increased execution speed cannot enable the predicted deflection angle to reach the over-angle threshold, otherwise, the upward transferring amplitude is too high.
It can be understood that when the execution parameters related to the expected movement of the lifting piece are adjusted, the speed of the adjustment speed can be determined according to the difference value between the deflection angle and the corresponding threshold value, the larger the difference is, the faster the adjustment speed is needed, otherwise, the execution parameters cannot be reduced to a safe region before the predicted time comes, and the smaller the difference is, the slower the adjustment speed can be.
Specifically, assuming that the lifting piece is currently in an amplitude variation stage, the amplitude variation trolley drives the lifting piece to move towards the tail end along the lifting arm at the time t0, no air flow blows at the time t0, the deflection direction is towards the direction far away from the tail end of the lifting arm, the deflection angle is gamma 0, and the gamma 0 is larger than the micro-angle threshold but smaller than the super-angle threshold; when the current moment (moment t 1) suddenly detects that the wind direction is the airflow parallel to the moving direction of the luffing trolley, the movement amount of the luffing trolley towards the direction close to the tail end generated by the thrust of the airflow of the lifting piece at the moment t2 can be predicted, namely, the deflection angle is reduced and is reduced to be lower than a micro-angle threshold value, after the prediction result is obtained, the moving speed of the luffing trolley can be increased under the help of the airflow at the moment t1, and as long as the moving speed of the trolley does not exceed the allowable speed and the deflection angle cannot be increased to reach the over-angle threshold value, the lifting piece can be accelerated and cannot exceed the over-angle threshold value at the moment t 2. It can be understood that if the airflow changes again in the process of increasing the speed of the trolley, the airflow returns to no wind again, and the increase in speed causes the yaw angle to exceed the over-angle threshold, the speed of the trolley is immediately decreased until the yaw angle does not reach the over-angle threshold at the time when the yaw angle would exceed the expected exceeding time of the over-angle threshold without decreasing the speed.
In the embodiment, the surrounding environment of the material being lifted on the tower crane is detected, particularly the airflow environment is detected, so that the parameter condition which is possibly influenced by the lifting of the material in the environment is obtained, the degree of the material being influenced by the parameter condition and the lifting stage of the material at present, particularly the degree of generated shaking and deflection is predicted based on the parameter condition and the lifting stage, further the damage possibly caused to the lifting process under the combined action of the environment and the lifting stage is predicted through the prediction result, particularly the damage caused by excessive friction of a steel cable, the rotation of the material, the difficulty in falling of the material winding rotation, the unstable structure of the tower crane and other damages are predicted, at the moment, the influenced degree of the material is reduced to a safe interval by controlling the lifting parameters of the tower crane before the damage does not occur, particularly the parameters in the aspect of speed control, namely the damage is avoided by prediction and parameter pre-adjustment, the stability of hoist and material is improved.
In an embodiment, the current deflection state acquiring module in step 200 obtains the current deflection state of the lifting piece through the following steps 210 to 240.
And step 210, the basic posture acquiring unit acquires the basic posture of the hoisting piece based on the current hoisting stage of the hoisting piece.
If the deflection state of the lifting piece under the influence of the airflow is to be obtained, the wind area is obtained firstly, and the posture of the lifting piece before the influence of the airflow, namely the basic posture, needs to be determined firstly when the wind area is obtained. The basic posture is the posture of the lifting piece which is not influenced by any airflow, but the basic posture is determined based on the current lifting stage because the lifting piece per se has posture change at different lifting stages.
If the current hoisting stage is a hoisting stage or a descending stage or other hoisting stages without movement amount in the horizontal direction, the basic posture of the hoisting piece is a stable posture without any deflection; if the current hoisting stage is a steering stage, an amplitude-changing stage or other hoisting stages with moving amount in the horizontal direction, the basic posture of the hoisting piece is a deflection posture generated only by hoisting influence, the deflection posture is known and can be obtained according to a pre-established corresponding relation between the hoisting stage and the deflection posture, for example, the deflection state of the hoisting piece under each hoisting stage and under the condition of no air flow influence is recorded in advance, a stage-deflection mapping relation is established, and the deflection posture of the hoisting stage is directly obtained through the mapping relation.
And step 220, the wind area acquisition unit establishes a swept plane perpendicular to the wind direction of the wind, the lifting piece under the basic posture is swept through the swept plane model, and the maximum cross-sectional area obtained through sweeping is used as the wind area.
After the basic posture is obtained, a model of the lifting piece under the basic posture can be established, and then the sweeping plane is utilized to sweep from one end of the lifting piece model until the model completely passes through the lifting piece model. Referring to fig. 2 and 3, the left side of fig. 2 is a perspective view of a cubic bin model 100 for loading materials during hoisting in the air, and structures such as steel ropes and hooks are not shown in the figure, assuming that the current basic posture is a stable posture (no air flow), and the wind direction is as shown by an arrow on the right side of fig. 2, and the wind direction is parallel to a connecting line of two vertexes on a body diagonal line of the bin model 100. After the wind direction is detected by the wind direction sensor, a swept plane perpendicular to the wind direction is obtained, fig. 2 is a cross section 120 obtained by the swept plane when the swept plane is swept to one position of the bin model 100, the cross section 120 passes through three edge angles of the bin model 100, which are all adjacent to the edge angle 110 through the edge, in fig. 3, a cross section 130 with the largest area obtained after the bin model 100 is swept is shown, and the cross section 130 is specifically a regular hexagon, and the area of the cross section 130 is used as the wind receiving area.
And step 230, the airflow thrust calculation unit obtains the thrust of the airflow received by the lifting piece based on the wind speed and the wind area.
After the wind area is obtained, the thrust F borne by the lifting piece can be calculated by combining the wind speed, and the thrust F can be specifically calculated by the following formula: f = ρ × v2 × s, where ρ is the air density, v is the wind speed at the previous moment, and s is the wind area.
And 240, the deflection state calculation unit obtains a deflection state based on the thrust and the weight of the lifting piece.
After the thrust is obtained, the total weight of the lifting piece is known and is obtained by adding the weight of the lifting appliance and the weight of the material. Referring to fig. 4 and 5, fig. 4 shows a situation at a previous time (time t 0), in which fig. 4 shows a situation where the material box model 100 is in a lifting stage, and is subjected to a pulling force indicated by an upward arrow in the drawing and also to a wind force indicated by a leftward arrow, fig. 5 shows a situation at a current time (time t 1), and after the material box is subjected to a pushing force F of an air flow in a direction indicated by the leftward arrow, and is subjected to a pulling force F of the steel cable 200 and a gravity G, a calculation formula about a yaw angle θ 1 is obtained after the material box is subjected to automatic force analysis: tan (theta 1) = F push/mg, wherein m is the total weight of the lifting piece, g is the gravity acceleration, and the deflection direction is determined by the direction of the resultant force, so that the current deflection state is obtained. Because the tower crane is in a lifting stage, the tower crane cannot be subjected to horizontal force applied by the tower crane, and therefore the deflection direction is only determined by the wind direction and is determined to be the same as the wind direction.
It can be understood that there may be a case where the lifting member is influenced by the airflow during the lifting stage when being subjected to the horizontal force, or the lifting stage where the lifting member is subjected to the horizontal force is entered when being continuously influenced by the airflow, in both cases, the lifting member is not only subjected to the thrust of the airflow but also to the tension of the wire rope in the horizontal direction, but the force analysis and the deflection state of the lifting member are obtained in the same manner, and only the magnitude and the direction of the force involved in the force analysis are different.
In one embodiment, the future yaw state prediction module in step 300 specifically predicts the yaw state of the lifting piece based on the current variation condition of the airflow condition and the phase switching condition of the lifting phase through the following steps 310 to 330.
In step 310, the information obtaining unit obtains the wind direction and wind speed after the air flow condition changes, and obtains the stage switching condition after a certain time, where the stage switching condition includes that switching is not needed to be started, switching is to be started, and switching is being started.
After the airflow condition changes, the wind direction may change, for example, from one side toward the lifting member to the other side, or from no wind to wind or from wind to no wind, and the wind speed may change from large to small, or from no speed to speed, or from speed to no speed.
In three cases of the stage switching situation, the switching is not required to be started, namely the switching is just completed or the distance to the switching position is far, so that the switching cannot occur within a certain time, for example, the target hoisting height is 50 meters, only 10 meters are lifted at present, the time t1 is expected to reach the position 50 meters, and the time t1 is greater than the certain time t 0; the switching is to be started, namely the switching is started within a certain time as the distance to the switching position is short, for example, the target hoisting height is 50 meters, the target hoisting height is 47 meters at present, the target hoisting height is predicted to reach 50 meters within t2 time, and t2 is smaller than the certain time t 0; the switching refers to the moment when the actuator of the previous hoisting stage just stops moving and the actuator of the next hoisting stage is not started. The switchover is followed without initiation, and the phase switchover case cycles through the three cases until there is no next hoist phase.
And 320, obtaining the thrust and the direction of the lifting piece under the changed wind direction and wind speed by the stress calculation unit, and obtaining the traction and the direction of the lifting piece under the stage switching condition after the certain time.
The thrust is calculated in the same manner as the thrust calculation formula in step 230, and is F = ρ × v2 × s, except that v is the wind speed at the current time.
The traction force is obtained through parameters such as power, moving speed, swing length and the like of the actuating mechanism, can be known and recorded in advance through means such as experiments, and can be used as the traction force applied to the lifting piece according to the recorded content directly when the method is implemented.
And step 330, the deflection state prediction unit predicts the deflection state of the lifting piece based on the thrust and the direction thereof, and the traction and the direction thereof.
The deflection state prediction in this step is substantially the same as the way of calculating the current deflection state in step 240, and is performed by a force analysis method, and the difference is that the data basis in this step is the airflow state at the current time instead of the airflow state at the previous time, and a phase switching situation is used instead of the current phase state. Through automatic stress analysis of thrust, traction, gravity and the like, a deflection angle theta is calculated, and the deflection direction is determined by the direction of resultant force.
In one embodiment, when the deflection state prediction unit predicts the deflection state in step 330, the deflection state prediction unit further predicts the deflection state based on a lifting speed section where the actuator is located at the current lifting stage, where the lifting speed section includes an acceleration section, a constant speed section, a deceleration section, and a stop section.
Each lifting stage generally includes a starting acceleration process, an intermediate constant speed process, a final deceleration process and a final stopping process, and therefore the four predetermined processes are respectively called an acceleration stage, a constant speed stage, a deceleration stage and a stopping stage. Switching between different speed sections in the same lifting stage can also affect the deflection state, so that the speed change is taken into consideration in the prediction of the deflection state. Specifically, the traction force is different when the speed sections are different, so that the traction force is related to the magnitude of the traction force, and the traction force can be obtained according to the speed sections through the pre-established relationship between the speed sections and the magnitude of the traction force.
It should be noted that the four speed segments are not completely related to the phase switching situation, so the speed segment and the phase switching situation can be considered as the yaw prediction at the same time, for example, the starting switching can correspond to the front part of the acceleration segment, the constant velocity segment and the deceleration segment without starting the switching, i.e. the starting switching corresponds to the rear remaining part of the deceleration segment.
In one embodiment, the method further comprises the following steps a1 to A3.
And A1, the orientation change acquiring module acquires the orientation change of the image acquisition equipment according to a lifting route contained in the lifting task, wherein the image acquisition equipment is installed on the lifting piece or the tower crane assembly and is used for acquiring images of the lifting piece.
Because the tower crane may be provided with image acquisition equipment such as a camera for monitoring the condition of the hoisting member, for example, the camera is arranged on the lifting hook and is aligned with the joint between the hoisting member and the steel cable for monitoring whether the connection between the steel cable and the hoisting member is stable. Since the lifting route of the lifting piece is prearranged, and the camera usually faces to the target position of the lifting piece directly, the orientation of the camera is also known in advance from the initial lifting to the final placement, namely how the orientation changes in the lifting process, which is known.
Step A2, the relative position obtaining module obtains the relative position between the light source and the image acquisition device based on the position of the light source in the environment.
The light source refers to a strong light source such as the sun or a searchlight, and because the target position in the image collected by the camera is in the midpoint, a large area of white remains exist in the image, for example, when the camera is aligned with a hanging ring at one vertex of a bin, the upper half part in the image is a background, namely a ground background, and when the sun falls into a mountain or the ground has a searchlight, if the light source is directly irradiated into the image, the camera may be overexposed, the image becomes dark and is difficult to recognize, and even a photosensitive element of the camera is damaged. Therefore, in order to avoid the situation, the known characteristics of orientation change and unchanged light source position in the hoisting process are needed to obtain how the relative position between the light source and the image acquisition equipment is changed.
And step A3, the orientation adjusting module obtains the predicted orientation of the image acquisition equipment in the orientation change based on the pre-adjusted deflection state of the lifting piece, and adjusts the orientation of the image acquisition equipment based on the predicted orientation and the relative position to avoid the image acquisition equipment directly facing the light source.
After the hoisting piece is predicted to deflect due to wind, although the situation that the exceeding of the over-angle threshold value is avoided through pre-adjustment, the deflection state of the hoisting piece still changes after all, because the adjustment is only carried out for the purpose of not exceeding the over-angle threshold value, and the deflection angle is not kept unchanged all the time, the deflection state (deflection angle and deflection direction) at the next moment after pre-adjustment is obtained firstly, and then the orientation of the camera at the current hoisting stage (namely the orientation which should be towards the current position in the orientation change) is combined to obtain the orientation with the deflection angle, because the existence of the deflection angle can cause the light source to enter the acquisition range of the camera, the orientation with the deflection angle is compared with the relative position in the step A2, if the orientation with the deflection angle at the next moment is predicted to cause the light source to enter the acquisition range, the orientation of the camera is immediately adjusted to avoid the position of the light source, and the reduction of the image quality and the damage of the camera hardware are avoided.
The embodiment of the automatic material environment condition identification and analysis system for the intelligent tower crane disclosed by the application is described in detail below with reference to fig. 6. The embodiment is a system for implementing the embodiment of the automatic identifying and analyzing method for the environmental condition of the material.
As shown in fig. 6, the system disclosed in this embodiment mainly includes:
the air flow condition acquisition module is used for controlling air flow condition acquisition equipment to acquire the air flow conditions near the lifting piece in real time in the lifting process of the lifting piece, wherein the air flow conditions comprise the wind direction and the wind speed;
the current deflection state acquisition module is used for acquiring the current deflection state of the hoisting piece based on the wind area of the hoisting piece, the airflow condition at the previous moment and the current hoisting stage, wherein the deflection state comprises a deflection direction and a deflection angle;
the future deflection state prediction module is used for predicting the deflection state of the lifting piece based on the current change condition of the airflow condition and the stage switching condition of the lifting stage;
and the execution parameter adjusting module is used for pre-adjusting the execution parameters of the executing mechanism under the current hoisting stage, which are related to the expected movement of the hoisting piece, to be lower than the over-angle threshold value when the predicted deflection angle reaches the over-angle threshold value, and pre-adjusting the execution parameters of the executing mechanism under the current hoisting stage, which are related to the expected movement of the hoisting piece, within the parameter permission range when the predicted deflection angle is not greater than the micro-angle threshold value.
In one embodiment, the current yaw state obtaining module includes:
the basic posture acquiring unit is used for acquiring the basic posture of the hoisting piece based on the current hoisting stage of the hoisting piece;
the wind area acquisition unit is used for establishing a sweeping plane vertical to the wind direction of the wind, sweeping the lifting piece under the basic posture through the sweeping plane, and taking the maximum cross-sectional area obtained by sweeping as the wind area;
the airflow thrust computing unit is used for obtaining the thrust of the airflow received by the lifting piece based on the wind speed and the wind area;
and the deflection state calculating unit is used for obtaining a deflection state based on the thrust and the weight of the lifting piece.
In one embodiment, the future yaw state prediction module includes:
the information acquisition unit is used for acquiring the wind direction and the wind speed after the air flow condition changes and acquiring stage switching conditions after a certain time, wherein the stage switching conditions comprise that switching is not required to be started, switching is about to be started and switching is performed;
the stress calculation unit is used for obtaining the thrust and the direction of the lifting piece under the changed wind direction and wind speed, and obtaining the traction and the direction of the lifting piece under the stage switching condition after the certain time;
and the deflection state prediction unit is used for predicting the deflection state of the lifting piece based on the thrust and the direction thereof and the traction and the direction thereof.
In an embodiment, when the deflection state prediction unit predicts the deflection state, the deflection state prediction unit further predicts the deflection state based on a lifting speed section where the actuating mechanism is located at a current lifting stage, where the lifting speed section includes an acceleration section, a constant speed section, a deceleration section, and a stop section.
In one embodiment, the system further comprises:
the image acquisition equipment is arranged on the lifting piece or the tower crane assembly and is used for acquiring images of the lifting piece;
the orientation change acquiring module is used for acquiring the orientation change of the image acquisition equipment according to the lifting route contained in the lifting task;
the relative position acquisition module is used for acquiring the relative position between the light source and the image acquisition equipment based on the position of the light source in the environment;
and the orientation adjusting module is used for obtaining the predicted orientation of the image acquisition equipment in the orientation change based on the pre-adjusted deflection state of the lifting piece, adjusting the orientation of the image acquisition equipment based on the predicted orientation and the relative position, and avoiding the image acquisition equipment from directly facing the light source.
In the description of the present application, it is to be understood that the terms "central," "longitudinal," "lateral," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings, which are intended to be based on the orientation or positional relationship shown in the drawings, and are used merely for convenience in describing the present application and to simplify the description, but do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be taken as limiting the scope of the present application.
The division of modules, units or components herein is merely a logical division, and other divisions may be possible in an actual implementation, for example, a plurality of modules and/or units may be combined or integrated in another system. Modules, units, or components described as separate parts may or may not be physically separate. The components displayed as cells may or may not be physical cells, and may be located in a specific place or distributed in grid cells. Therefore, some or all of the units can be selected according to actual needs to implement the scheme of the embodiment.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a material environmental condition automatic identification analysis method for intelligent tower crane which characterized in that includes:
acquiring the airflow conditions near the lifting piece in real time in the lifting process of the lifting piece, wherein the airflow conditions comprise the wind direction and the wind speed;
obtaining the current deflection state of the lifting piece based on the wind area of the lifting piece, the airflow condition at the previous moment and the current lifting stage, wherein the deflection state comprises a deflection direction and a deflection angle;
predicting the deflection state of the lifting piece based on the current change condition of the airflow condition and the stage switching condition of the lifting stage;
when the predicted deflection angle reaches an over-angle threshold value, the execution parameters of the execution mechanism under the current hoisting stage, which are related to the expected movement of the hoisting piece, are pre-adjusted downwards until the predicted deflection angle is lower than the over-angle threshold value, and when the predicted deflection angle is not larger than a micro-angle threshold value, the execution parameters of the execution mechanism under the current hoisting stage, which are related to the expected movement of the hoisting piece, are pre-adjusted upwards within a parameter permission range.
2. The method for automatically identifying and analyzing the material environment condition according to claim 1, wherein the step of obtaining the current deflection state of the lifting piece based on the wind area of the lifting piece, the airflow condition at the previous moment and the current lifting stage comprises the following steps:
acquiring a basic posture of the hoisting piece based on the current hoisting stage of the hoisting piece;
establishing a sweeping plane vertical to the wind direction, sweeping the lifting piece under the basic posture through the sweeping plane, and taking the maximum cross-sectional area obtained by sweeping as the wind area;
obtaining the thrust of the airflow borne by the lifting piece based on the wind-borne wind speed and the wind-borne area;
and obtaining a deflection state based on the thrust and the weight of the lifting piece.
3. The method for automatically identifying and analyzing the material environment condition according to claim 1, wherein the predicting the deflection state of the lifting piece based on the current change condition of the airflow condition and the phase switching condition of the lifting phase comprises the following steps:
acquiring the wind direction and the wind speed after the air flow condition changes, and acquiring the stage switching condition after a certain time, wherein the stage switching condition comprises that switching is not needed to be started, switching is to be started and switching is performed;
obtaining the thrust and the direction of the lifting piece under the changed wind direction and wind speed, and obtaining the traction and the direction of the lifting piece under the stage switching condition after the certain time;
and predicting the deflection state of the lifting piece based on the thrust and the direction thereof and the traction and the direction thereof.
4. The method for automatically identifying and analyzing the environmental conditions of the materials according to claim 3, wherein when the deflection state is predicted, the deflection state is predicted based on a lifting speed section where an actuating mechanism is located at the current lifting stage, wherein the lifting speed section comprises an acceleration section, a constant speed section, a deceleration section and a stop section.
5. The method for automatically identifying and analyzing the environmental condition of the material according to claim 1, further comprising:
obtaining the orientation change of image acquisition equipment according to a lifting route contained in a lifting task, wherein the image acquisition equipment is installed on a lifting piece or a tower crane assembly and is used for carrying out image acquisition on the lifting piece;
obtaining a relative position between the light source and the image acquisition device based on the position of the light source in the environment;
and obtaining the predicted orientation of the image acquisition equipment in the orientation change based on the pre-adjusted deflection state of the lifting piece, and adjusting the orientation of the image acquisition equipment based on the predicted orientation and the relative position to avoid the image acquisition equipment from directly facing a light source.
6. The utility model provides a material environmental aspect automatic identification analytic system for intelligence tower crane which characterized in that includes:
the air flow condition acquisition module is used for controlling air flow condition acquisition equipment to acquire the air flow conditions near the lifting piece in real time in the lifting process of the lifting piece, wherein the air flow conditions comprise the wind direction and the wind speed;
the current deflection state acquisition module is used for acquiring the current deflection state of the hoisting piece based on the wind area of the hoisting piece, the airflow condition at the previous moment and the current hoisting stage, wherein the deflection state comprises a deflection direction and a deflection angle;
the future deflection state prediction module is used for predicting the deflection state of the lifting piece based on the current change condition of the airflow condition and the stage switching condition of the lifting stage;
and the execution parameter adjusting module is used for pre-adjusting the execution parameters of the executing mechanism under the current hoisting stage, which are related to the expected movement of the hoisting piece, to be lower than the over-angle threshold value when the predicted deflection angle reaches the over-angle threshold value, and pre-adjusting the execution parameters of the executing mechanism under the current hoisting stage, which are related to the expected movement of the hoisting piece, within the parameter permission range when the predicted deflection angle is not greater than the micro-angle threshold value.
7. The system for automatically identifying and analyzing the material environment condition according to claim 6, wherein the current runout state obtaining module comprises:
the basic posture acquiring unit is used for acquiring the basic posture of the hoisting piece based on the current hoisting stage of the hoisting piece;
the wind area acquisition unit is used for establishing a sweeping plane vertical to the wind direction of the wind, sweeping the lifting piece under the basic posture through the sweeping plane, and taking the maximum cross-sectional area obtained by sweeping as the wind area;
the airflow thrust computing unit is used for obtaining the thrust of the airflow received by the lifting piece based on the wind speed and the wind area;
and the deflection state calculating unit is used for obtaining a deflection state based on the thrust and the weight of the lifting piece.
8. The system for automatically identifying and analyzing material environment conditions according to claim 6, wherein the future yaw state prediction module comprises:
the information acquisition unit is used for acquiring the wind direction and the wind speed after the air flow condition changes and acquiring stage switching conditions after a certain time, wherein the stage switching conditions comprise that switching is not required to be started, switching is about to be started and switching is performed;
the stress calculation unit is used for obtaining the thrust and the direction of the lifting piece under the changed wind direction and wind speed, and obtaining the traction and the direction of the lifting piece under the stage switching condition after the certain time;
and the deflection state prediction unit is used for predicting the deflection state of the lifting piece based on the thrust and the direction thereof and the traction and the direction thereof.
9. The system for automatically identifying and analyzing the environmental conditions of the materials according to claim 8, wherein the deflection state prediction unit predicts the deflection state based on a lifting speed section of the executing mechanism in the current lifting stage when predicting the deflection state, wherein the lifting speed section comprises an acceleration section, a constant speed section, a deceleration section and a stop section.
10. The system for automatically identifying and analyzing the condition of the material environment according to claim 6, further comprising:
the image acquisition equipment is arranged on the lifting piece or the tower crane assembly and is used for acquiring images of the lifting piece;
the orientation change acquiring module is used for acquiring the orientation change of the image acquisition equipment according to the lifting route contained in the lifting task;
the relative position acquisition module is used for acquiring the relative position between the light source and the image acquisition equipment based on the position of the light source in the environment;
and the orientation adjusting module is used for obtaining the predicted orientation of the image acquisition equipment in the orientation change based on the pre-adjusted deflection state of the lifting piece, adjusting the orientation of the image acquisition equipment based on the predicted orientation and the relative position, and avoiding the image acquisition equipment from directly facing the light source.
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