CN117864959A

CN117864959A - Hoisting pose control system and control method

Info

Publication number: CN117864959A
Application number: CN202311873172.5A
Authority: CN
Inventors: 宋晨; 杜倩如; 李骁; 蒋锐祺; 沈岐平
Original assignee: University of Hong Kong HKU; Hong Kong Polytechnic University HKPU
Current assignee: University of Hong Kong HKU; Hong Kong Polytechnic University HKPU
Priority date: 2023-12-29
Filing date: 2023-12-29
Publication date: 2024-04-12

Abstract

The hoisting pose control system and the control method are suitable for the technical field of modularized buildings, and the hoisting pose control system invokes corresponding controllers of all functional modules according to data detected by sensors so as to drive pose control of hoisted objects, so that assistance can be provided for working decisions of tower crane operators, operators do not need to risk to approach to modules to be installed suspended in the air, and safety of the operators and accuracy and reliability of module installation are ensured; and then can reduce the human cost in the modularization building work, improve the equipment quality and the packaging efficiency of module.

Description

Hoisting pose control system and control method

Technical Field

The application belongs to the technical field of modularized buildings, and particularly relates to a hoisting pose control system and a control method.

Background

During installation of a modular building, it is often necessary to place the modules to be installed in a particular position in a particular pose. However, existing lifting devices cannot achieve this without manual operation. More specifically, during installation, the final attitude (position and tilt angle) adjustment of the module to be installed requires a joint effort by the ground crew and the tower operator. In this process, the tower operator is required to make a final module position adjustment (e.g., about 15 cm in adjustment size) to be installed, according to the adjustment needs of the floor crew.

However, compared with the scale of the tower crane, the position adjustment step length required by the module to be installed is still small, so that the adjustment accuracy requirement is too high, and therefore, the accurate control is difficult to realize when the tower crane operator adjusts the module to be installed, and meanwhile, the shaking generated in the installation process of the module to be installed is difficult to reduce by means of the tower crane. Therefore, when the horizontal displacement of the module to be installed (i.e., the deviation of the module position from the target position) is too small for the tower crane operation, the ground staff needs to manually pull the module to achieve finer position adjustments. In addition, due to structural limitations, the tower crane cannot provide control capability of the module steering angle (i.e., the direction of the module to be installed), and it is also difficult to achieve suppression of small-amplitude shaking of the module. Therefore, small-amplitude horizontal position adjustment, steering angle adjustment and small-amplitude shaking inhibition of the module are realized by directly applying lateral force to the module by ground staff. For the horizontal posture adjustment of the module, although most of the modules to be installed can be adjusted to be horizontal by adjusting the length of the sling in the initial hoisting stage, the process depends on subjective judgment of workers and is not accurate. And in the manual calibration process of the final installation stage, the horizontal attitude error of the module is inevitably increased along with fine adjustment of the position and the steering.

Disclosure of Invention

The embodiment of the application provides a hoisting pose control system and a control method, which can solve the technical problem that the hoisting pose is difficult to accurately adjust in the installation process of a modularized building.

In a first aspect, an embodiment of the present application provides a lifting pose control system, where the lifting pose control system is applied to lifting equipment, the lifting equipment is connected with a lifting object, and the lifting pose control system includes a data processing device;

the hoisting equipment comprises a tension sensor, an inertia measurement unit and a displacement sensor; the tension sensor is used for detecting the current tension of the rope of the hoisting equipment; the inertial measurement unit is used for detecting the space attitude data of the hoisted object; the displacement sensor is used for measuring displacement data of the hoisting frame of the hoisting equipment relative to the steering control mechanism;

the hoisting equipment further comprises a mass distribution adjusting mechanism, a rope driving mechanism, a steering driving mechanism and a thruster;

the data processing device comprises a mass distribution controller, a rope length controller, a steering controller and a thrust controller;

the data processing device is used for acquiring a motion instruction of the hoisted object, and the motion instruction is used for controlling the hoisting equipment to adjust the position and the posture of the hoisted object relative to a target installation position;

The data processing device is further used for executing the following functional modes based on the motion instruction and combined with the current tension of the rope, the spatial gesture data and the displacement data:

a steering adjustment mode, wherein when the motion instruction characterizes steering control, the steering controller is called to control the steering driving mechanism to adjust the azimuth of the hoisted object;

a position adjustment mode, when the motion instruction represents horizontal and/or vertical position adjustment, invoking the rope length controller to control the rope driving mechanism, or invoking the rope length controller and the mass distribution controller to control the rope driving mechanism and the mass distribution adjustment mechanism so as to finely adjust the horizontal and vertical positions of the hoisted object;

the gesture adjusting mode is used for calling the rope length controller to control the rope driving mechanism to finely adjust the gesture of the hoisted object when the motion instruction represents horizontal gesture adjustment, or calling the rope length controller and the mass distribution controller to control the rope driving mechanism and the mass distribution adjusting mechanism to finely adjust the gesture of the hoisted object;

A shake suppression mode, wherein when the motion instruction characterizes shake suppression, the thrust controller is called to control the thruster so as to provide swing damping for the hoisting equipment;

the data processing device is further used for performing control scheduling on the steering adjustment mode, the position adjustment mode, the gesture adjustment mode and the shaking suppression mode according to a preset safety rule.

In some embodiments, the data processing device turns off the steering adjustment mode, the position adjustment mode or the posture adjustment mode and starts the shake suppression mode to suppress shake of the hoisted object if detecting that the hoisted state of the hoisted object reaches a preset shake amplitude and/or a preset swing speed in the process of executing the steering adjustment mode, the position adjustment mode or the posture adjustment mode;

and when the data processing device detects that the hoisting state of the hoisted object reaches a preset horizontal inclination angle error in the process of executing the steering adjustment mode or the position adjustment mode, the steering adjustment mode or the position adjustment mode is closed, and the posture adjustment mode is started to adjust the horizontal posture of the hoisted object.

In some embodiments, the lifting pose control system further comprises a computer-aided vision system and a human-computer interaction device;

the computer-aided vision system is used for identifying the pose error of the lifting device relative to a target installation position and generating adjustment suggestion data based on the pose error; displaying predicted pose information related to the adjustment suggestion data in a preset visual area;

the man-machine interaction device is used for responding to the adjustment control instruction of the user;

the computer-aided vision system is further configured to display predicted pose information related to the adjustment control instruction in the preset visualization area;

wherein the motion instruction is the adjustment control instruction or the adjustment suggestion data.

In some embodiments, the lifting device further comprises a lifting frame and a lifting appliance, wherein the lifting appliance is connected with the lifting frame or the mass distribution adjusting mechanism and is used for connecting a lifting object; the mass distribution adjusting mechanism is connected with the hoisting frame and is used for adjusting the mass distribution of the combination of the hoisted object and the hoisting frame so as to be matched with the rope driving mechanism to realize the horizontal position adjustment of the hoisted object;

The rope driving mechanism is connected with the hoisting frame and is used for adjusting the posture of the hoisted object so as to keep the hoisted object in a horizontal posture;

the rope driving mechanism is also used for adjusting the position of the hoisted object in the horizontal direction in cooperation with the mass distribution adjusting mechanism;

the rope driving mechanism is also used for adjusting the position of the hoisted object in the vertical direction.

In some embodiments, the lifting pose control system further comprises a plurality of thrusters, wherein the thrusters are arranged on the lifting frame or the lifting object;

the data processing device is also used for calculating the speed of the lifting frame according to the space attitude data measured by the inertia measurement unit in the process of starting the shaking suppression mode, calculating the expected damping force and direction required by each thruster according to the speed of the lifting frame, and calling the thrust controller to control each thruster to work according to the expected damping force and direction so as to realize shaking suppression.

In some embodiments, the computer-aided vision system includes a plurality of image sensors, each image sensor of the computer-aided vision system is disposed at a side corner position of the lifting frame, each image sensor is used for collecting current image information, and the current image data includes image information corresponding to a current pose of the lifting object and image information corresponding to the target installation position;

The hoisting pose control system further comprises an inertial measurement unit, wherein the inertial measurement unit is arranged at the surface corner position of the hoisting frame and is used for detecting the spatial pose data of the hoisted object;

the image sensor and the inertial measurement unit are used for matching with the computer-aided vision system to identify the pose error of the lifting device relative to the target installation position.

In some embodiments, the computer-aided vision system further comprises an augmented reality display device for displaying predicted pose information, current pose information of the hoisted object, and target position pose associated with the adjustment suggestion data.

In a second aspect, the present application further proposes a lifting pose control method, where the lifting pose control method is applied to the data processing device of the lifting pose control system described in the first aspect, the lifting pose control system is applied to a lifting device, the lifting device is connected with a lifting object, and the lifting device includes a tension sensor, an inertia measurement unit and a displacement sensor;

the tension sensor is used for detecting the current tension of the rope of the hoisting equipment; the inertial measurement unit is used for detecting the space attitude data of the hoisted object; the displacement sensor is used for measuring displacement data of the hoisting frame of the hoisting equipment relative to the steering control mechanism;

the control method comprises the following steps:

the data processing device acquires a motion instruction of the hoisted object, and the motion instruction is used for controlling the hoisting equipment to adjust the position and the posture of the hoisted object relative to a target installation position;

the data processing device performs the following functional modes based on the movement instructions in combination with the current tension of the rope, the spatial pose data and the displacement data, including:

a steering adjustment mode for controlling the steering driving mechanism to adjust the azimuth of the hoisted object when the motion instruction represents steering control;

a position adjustment mode for controlling the mass distribution adjustment mechanism and the rope driving mechanism to finely adjust the horizontal position of the hoisted object when the motion instruction represents horizontal and/or vertical position adjustment;

the gesture adjusting mode is used for controlling the rope driving mechanism to finely adjust the gesture of the hoisted object or controlling the rope driving mechanism and the mass distribution adjusting mechanism to finely adjust the gesture of the hoisted object when the motion command represents horizontal gesture adjustment;

A shake suppression mode, when the motion instruction characterizes shake suppression, controlling the thruster to provide swing damping for the hoisting equipment;

the data processing device makes control scheduling for the steering adjustment mode, the position adjustment mode, the gesture adjustment mode and the shaking suppression mode according to a preset safety rule.

In some embodiments, the step of the data processing apparatus making control schedules for the steering adjustment mode, the position adjustment mode, the posture adjustment mode, and the sway suppression mode according to a preset safety rule further includes:

in the process of executing the steering adjustment mode, the position adjustment mode or the gesture adjustment mode, if the data processing device detects that the lifting state of the lifting object reaches the preset swinging amplitude and/or the preset swinging speed, starting the swinging inhibition mode to inhibit swinging of the lifting object;

or (b)

And in the process of executing the steering adjustment mode or the position adjustment mode, if the data processing device detects that the lifting state of the lifting object reaches the preset horizontal inclination angle error, starting the posture adjustment mode to adjust the horizontal posture of the lifting object.

In some embodiments, the control system further comprises a computer-aided vision system and a human-machine interaction device, the control method further comprising:

the computer-aided vision system identifies pose errors of the hoisting object relative to the target installation position, and generates adjustment suggestion data based on the pose errors;

the computer-aided vision system displays predicted pose information related to the adjustment suggestion data in a preset visualization area;

the man-machine interaction device responds to an adjustment control instruction of a user and sends the adjustment control instruction to the data processing device;

the data processing device controls the lifting equipment to adjust the pose of the lifting object according to the motion instruction, wherein the motion instruction is the adjustment control instruction or the adjustment suggestion data.

In some embodiments, during the initiation of the steering adjustment mode, the position adjustment mode, and/or the attitude adjustment mode, the control method further comprises:

the data processing device determines the current states of the hoisting equipment and the hoisted object according to the space attitude data and the displacement data;

and establishing a motion plan for the mass distribution adjusting mechanism, the rope driving mechanism and the steering driving mechanism based on the current state so as to drive the hoisted object to be adjusted from the current pose to the required target pose according to the motion plan.

In some embodiments, during the initiation of the steering adjustment mode and/or the position adjustment mode and/or the attitude adjustment mode, the control method further comprises:

the data processing device acquires the current tension of the rope detected by the tension sensor, and when the current tension of the rope is smaller than a preset tension threshold value, the rope length controller is called to control the rope driving mechanism to shorten the rope length corresponding to the rope so as to finely adjust the posture of the hoisted object; or when the current tension of the rope is larger than the preset tension threshold, the rope length controller is called to control the rope driving mechanism to slightly increase the rope length corresponding to the rope so as to finely adjust the posture of the hoisted object.

In some embodiments, the computer-aided vision system includes a plurality of image sensors, each image sensor configured to collect current image information, the current image data including image information corresponding to a current pose of the hoisted object and image information corresponding to the target installation position;

the computer-aided vision system identifies a pose error of the hoist relative to a target installation position, generates adjustment suggestion data based on the pose error, and includes:

The computer-aided vision system performs image model reconstruction on each piece of current image information in a virtual scene based on the spatial attitude data to obtain a simulated reconstructed image; the simulation reconstruction image comprises current pose information and target position pose of the hoisted object;

identifying pose errors of the hoisting objects relative to a target installation position based on the simulation reconstruction images, and generating adjustment suggestion data based on the pose errors;

and displaying predicted pose information, current pose information of the hoisted object and target position pose related to the adjustment suggestion data in a preset visual area.

In some embodiments, the control method further comprises:

the data processing device acquires the space attitude data and the current image information;

detecting whether the hoisting state of the hoisted object reaches a preset horizontal inclination angle error or not based on the space attitude data and/or the current image information;

and detecting whether the lifting state of the lifting object reaches a preset swinging amplitude and/or a preset swinging speed threshold or not based on the space gesture data and/or the current image information.

In some embodiments, the lifting pose control method further includes:

The man-machine interaction device stores the adjustment control instruction into a preset cache area to serve as a current cache instruction;

the data processing device generates current simulation attitude information for the hoisted object according to the current caching instruction;

the computer-aided vision system displays the current simulation attitude information of the hoisted object in the preset visual area;

and the man-machine interaction device responds to the instruction sending operation of the user and sends the current cache instruction to the data processing device, so that the data processing device controls the hoisting equipment according to the current cache instruction to adjust the pose of the hoisted object.

The method and the device can provide assistance for working decisions of tower crane operators, so that the operators do not need to risk to approach to the module to be installed suspended in the air, and the safety of the operators and the accuracy and reliability of module installation are ensured; and then can reduce the human cost in the modularization building work, improve the equipment quality and the packaging efficiency of module.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly introduce the drawings that are needed in the embodiments or the description of the prior art, it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a hoisting device provided in an embodiment of the present application;

fig. 2 is a schematic diagram of an overall architecture of a lifting pose control system provided in an embodiment of the present application;

FIG. 3 is a schematic diagram of a system corresponding to each mode provided in the embodiments of the present application;

FIG. 4 is a schematic diagram of trigger conditions at the start of each functional mode and transition between different functional modes according to the embodiment of the present application;

FIG. 5 is a schematic flow chart of a position adjustment mode and a steering adjustment mode in the working process according to the embodiment of the present application;

FIG. 6 is a schematic flow chart of a specific process in the working process of the gesture adjustment mode provided in the application embodiment;

fig. 7 is a schematic flow chart of a shake suppression mode in the working process according to the embodiment of the application;

fig. 8 is a schematic diagram related to an image acquisition functional field coverage area of an image sensor of a lifting device according to an embodiment of the present application;

fig. 9 is a schematic image model reconstruction diagram related to current image information collected by each camera according to an embodiment of the present application.

Wherein, each reference sign in the figure:

the hoisting equipment-100, the mass distribution adjusting mechanism-13, the rope driving mechanism-20 and the steering driving mechanism-30;

The lifting device comprises a lifting frame-11, a lifting appliance-12, a lifting rope-121 and a lifting object-300;

image sensor-01, tension sensor-02, inertial measurement unit measurement-03, displacement sensor-04, wire coil-041.

Detailed Description

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having" and any variations thereof in the description and claims of the present application and in the description of the figures above are intended to cover non-exclusive inclusions.

It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

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

In addition, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.

Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.

The inventors of the present application have noted that prior art module lifting and installation practices are a time-consuming, labor-intensive task, ground workers must work under or near the lifted module, relying on the experience of the workers to complete the lifting and installation of the module, and the working environment in which the workers are located is at a high risk. In a lifting or mounting process of a conventional modularized building, a worker connects a module (a lifting object) to be mounted to lifting equipment by using a lifting appliance, a ground worker lifts and lifts the lifting object by controlling the lifting equipment, and the worker unbundles the lifting appliance by a series of height adjustment operation, direction and pose adjustment operation and horizontal position adjustment operation until reaching a target mounting position; and (3) circularly and repeatedly operating each module (lifting object) to be installed according to the flow. In this process, the tower crane operator needs to make the final module position adjustment (e.g., adjustment size about 15 cm) to be installed according to the adjustment needs of the ground staff; however, compared with the scale of the tower crane, the corresponding adjustment step length of the adjustment position of the module to be installed is still small, so that the adjustment precision is too high, and therefore, accurate control is difficult to realize when the tower crane operator adjusts the module to be installed.

In order to solve the technical problems, a lifting pose control system and a control method are provided, wherein the lifting pose control system is applied to lifting equipment, and the lifting equipment is connected with a lifting object; the hoisting equipment further comprises a mass distribution adjusting mechanism 13, a rope driving mechanism 20, a steering driving mechanism 30 and a thruster;

taking the structure shown in fig. 1 as an example, the hoisting device 100 provided by the application is provided with a rope driving mechanism 20, a hoisting frame 11, a mass distribution adjusting mechanism 13 and a hoisting tool 12 which are sequentially arranged along the vertical direction, wherein the hoisting tool 12 is connected with the hoisting frame 11 or the mass distribution adjusting mechanism 13 through a hoisting rope 121, and the hoisting rope 121 is also used for connecting a hoisted object 300;

the mass distribution adjusting mechanism 13 is connected with the hoisting frame 11 and is used for adjusting the horizontal position of the hoisted object 300, and is used for adjusting the mass distribution of the combination of the hoisted object and the hoisting frame so as to be matched with the rope driving mechanism 20 to realize the horizontal position adjustment of the hoisted object 300;

the rope driving mechanism 20 is connected with the hoisting frame 11 and is used for adjusting the posture of the hoisted object 300 so as to keep the hoisted object 300 in a horizontal posture; the rope driving mechanism 20 is further used for adjusting the position of the hoisted object 300 in the horizontal direction in cooperation with the mass distribution adjusting mechanism 13; the rope driving mechanism 20 is also used for adjusting the position of the hoisted object 300 in the vertical direction.

The rope driving mechanism 20 is connected with the lifting frame 11 and is used for adjusting the posture of the lifting object 300 so as to keep the lifting object 300 in a horizontal posture.

The lifting device 100 can realize the attitude control of multiple degrees of freedom of the lifting object 300 based on the control of the lifting attitude control system under the condition that no tower crane moves and is manually pulled: the lifting device 100 is provided with a lifting appliance 12, and the lifting appliance 12 is used for being connected with the lifting object 300, so that the lifting device 100 can carry out lifting work on the lifting object 300;

in fig. 1, the hoisting apparatus 100 further has a steering driving mechanism 30 for adjusting the horizontal orientation of the hoisted object 300, the steering driving mechanism 30 is connected to the top end of the rope driving mechanism 20, or the steering driving mechanism 30 is connected between the hoisting frame 11 and the mass distribution adjusting mechanism 13, or the steering driving mechanism 30 is connected between the mass distribution adjusting mechanism 13 and the hoisting tool 12;

furthermore, the lifting device 100 has a plurality of thrusters, which are not shown in fig. 1, and a plurality of thrusters may be provided on the lifting frame or the lifting object.

As shown in fig. 1, the hoisting device further comprises a tension sensor 02, an inertial measurement unit (Inertial Measurement Unit, IMU) 03 and a displacement sensor 04;

The tension sensor 02 is used for detecting the current tension of the ropes of the hoisting equipment, and the tension sensor 02 can be fixed on an anchor point of each rope;

the inertial measurement unit 03 is configured to detect spatial attitude data of the hoisted object, as shown in fig. 1, where the inertial measurement unit 03 may be disposed at a surface corner position of the hoisted frame 11, and is configured to detect spatial attitude data of the hoisted object, where the spatial attitude data specifically includes a three-axis attitude angle (or angular rate) and an acceleration of the hoisted object;

the displacement sensor 04 can be used for measuring displacement data of a hoisting frame of the hoisting device relative to the steering driving mechanism 30; as shown in fig. 1, the displacement sensor 04 is fixed on a wire coil 041, the wire coil 041 is fixed on a hoisting frame 11 of the hoisting device 100, the wire coil 041 is used for connecting a rope, and the tail end of the rope is fixed at the bottom of the steering driving mechanism 30.

In order to explain the specific technical scheme of the lifting pose control system and the control method provided by the embodiment of the invention, the application is developed and explained based on the lifting equipment with the structure shown in fig. 1, and the invention is described by the specific embodiment.

Example 1

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

as shown in fig. 2, the lifting pose Control system further comprises a computer aided vision system (Computer Aided Validation System, CAVS) and a man-machine interaction device (Automatic pose adjustment system-Control Panel, APAS-CP).

It will be appreciated that as shown in fig. 2, the data processing apparatus APAS-CS mainly consists of a mission planner and four functional modes, including: a 1-turn adjustment mode, a 2-position adjustment mode, a 3-posture adjustment mode, and a 4-shake suppression mode.

The functions corresponding to the steering adjustment mode 1 and the position adjustment mode 2 are executed when the position of the incoming hoisted object and the steering command are received. In particular, the purpose of position adjustment mode 2 is to translate the lifting control in the desired amount while trying to maintain the horizontal attitude of the lifting. If the hoist attitude is no longer level for various reasons (such as modeling/control errors or external disturbances), the corresponding function of attitude adjustment mode 3 will be performed causing the module to resume attitude level. The function corresponding to the shake suppression mode 4 is executed to reduce the shake of the hoisted object. Although the transmission between these functional modes is controlled by a task planner (TS), the operator may also directly send an adjustment control command to invoke a certain "controller" to start a certain functional mode through a human-computer interaction device APAS-CP (for a specific implementation, see a scheme of the second embodiment below).

Further, with reference to fig. 3, fig. 3 further illustrates that each functional mode is provided with a respective control system, including in a specific implementation a respective underlying control loop and actuators (mass distribution adjustment mechanism, rope drive mechanism, steering drive mechanism and thruster);

it can be understood that the data processing device of the hoisting pose control system of the present application can acquire the data detected by the sensors, namely the tension sensor 02, the inertia measurement unit 03 and the displacement sensor 04, and call each controller according to the data detected by the sensors to drive the executing mechanisms of hoisting devices, namely the mass distribution adjusting mechanism, the rope driving mechanism, the steering driving mechanism and the thruster, so as to perfect pose control of the hoisted object:

the data processing device can be used for acquiring a motion instruction of the hoisted object, and the motion instruction is used for controlling the hoisting equipment to adjust the position and the posture of the hoisted object relative to a target installation position; the motion instruction may represent signal instructions such as "steering angle, horizontal position, longitudinal position, trigger attitude adjustment, trigger shake adjustment" included in the "instruction trigger mechanism" in fig. 3, and signal instructions such as "action 1, action 2, action 3, action 4, excitation condition 1, excitation adjustment 2" in fig. 4;

In particular, the data processing apparatus may implement the functions corresponding to the respective functional modes, and the transitions between the different functional modes, by means of a "mission planner:

in an implementation, an example of a mission planner may be shown in fig. 4, for a total of 5 modes, including: 1) An idle mode in which all actuators remain stationary; 2) An emergency stop mode that will override any existing tasks, send notification to the CAVS and automatically transition to an idle state; 3) A position adjustment mode and a steering adjustment mode, which receive and execute a set of target installation position and steering angle commands of a given hoisted object, and use a mass distribution controller and a steering controller; 4) The gesture adjusting mode is used for interrupting the position adjusting mode and the steering adjusting mode when being called and starting the horizontal adjusting system to adjust the horizontal gesture of the module; 5) The sloshing suppressing mode may interrupt the position and steering adjustment mode and the horizontal control mode and turn on the sloshing suppressing system.

It should be noted that, the preset security rule may represent a manually preset computer program, relevant program codes of the preset security rule may be written into the task planner, and the user may set and adjust the state conversion rule of each mode in the computer program according to the own requirement, which is not limited in this application, specifically, refer to fig. 4, where fig. 4 shows two typical state conversion rules in the task planner:

excitation condition 1: and when the data processing device detects that the lifting state of the lifting object reaches a preset horizontal inclination angle error in the process of executing the steering adjustment mode or the position adjustment mode, the steering adjustment mode or the position adjustment mode is closed, and the posture adjustment mode is started to adjust the horizontal posture of the lifting object. I.e. if a large level error of the module is detected, the position and steering adjustment tasks are automatically stopped and the level calibration task is started. Such state transition logic is based on safety objectives to avoid collision damage due to model sway or unbalanced module attitude.

Excitation condition 2: in the process of executing the steering adjustment mode, the position adjustment mode or the gesture adjustment mode, if the data processing device detects that the lifting state of the lifting object reaches the preset swinging amplitude and/or the preset swinging speed, the steering adjustment mode, the position adjustment mode or the gesture adjustment mode is closed, and the swinging inhibition mode is started to inhibit swinging of the lifting object; i.e. when a large sloshing is detected, the horizontal calibration task and position, steering adjustment task will be terminated and sloshing suppression will be initiated.

It should be noted that, for the above-mentioned excitation condition 1 and excitation condition 2, the data processing apparatus may determine whether the current state reaches the excitation condition by:

the data processing device needs to acquire spatial gesture data (measured by a displacement sensor) and current image information (acquired by a computer-aided vision system) (the current image data comprises image information corresponding to the current gesture of the hoisted object and image information corresponding to the target installation position, and the data processing device can specifically participate in a specific implementation scheme of a second embodiment;

the data processing device can detect whether the hoisting state of the hoisted object reaches a preset horizontal inclination angle error or not based on the space attitude data and/or the current image information;

the data processing device can also detect whether the hoisting state of the hoisted object reaches a preset shaking amplitude and/or a preset shaking speed threshold value based on the space gesture data and/or the current image information.

Position adjustment mode and steering adjustment mode

Further, in an embodiment, as shown in fig. 5, the present embodiment specifically describes a position adjustment mode (mass distribution controller and rope length controller) and a steering adjustment mode (steering controller):

Fig. 5 illustrates a workflow of a system corresponding to the position adjustment mode and a system corresponding to the steering adjustment mode. The data processing device APAS-CS will invoke the motion planner upon receiving the required position change and steering angle change of the hoisted object. The motion planner generates a track by using the internal control model, the inertial measurement unit and the readings of the displacement sensor, and drives the hoisted object from the current posture to the required posture. The motion planner not only drives the modules to the desired position and steering angle, but also maintains a balanced module pose based on the internal mathematical model of the system.

Then, in each time step, the required steering joint angle, the required translation motor position of the horizontal displacement table and the required length of the lifting rope are extracted and sent to the corresponding floor controller. In particular, a rope tension adjustment module is added to the hoist rope, which module will take readings from the force sensor and slightly shorten the corresponding rope length when the force reading is less than a preset tension threshold, and slightly increase the corresponding rope length of the rope when the force reading exceeds the preset tension threshold. The goal of the rope tension adjusting module is to keep each rope in tension so that the load can be better shared and the basic assumption of the internal model is met (all ropes are kept in tension). In addition, the upper rope tension limit helps to protect the rope from being pulled apart. Once the trajectory planned by the motion planner is completed, the task will automatically exit.

It should be noted that, the horizontal displacement platform belongs to a specific implementation manner of the mass distribution adjusting mechanism, and the translational motor controller belongs to an implementation manner of the mass distribution controller, and does not limit the mass distribution adjusting mechanism and the mass distribution controller in the application.

Posture adjustment mode

Further, in an embodiment, as shown in fig. 6, the present embodiment specifically describes the posture adjustment mode (mass distribution controller and rope length controller):

as shown in fig. 6, the system corresponding to the posture adjustment mode has a similarity in structural composition with the system corresponding to the position adjustment mode, and also consists of a motion planner, an internal model, a translation motor controller, a rope tension adjustment module and a corresponding rope length adjuster. The overall workflow is the same as the position adjustment mode correspondence system. And simultaneously planning the length track of the lifting rope and the position track of the translation motor (horizontal displacement platform) in a motion planner of a system corresponding to the gesture adjusting mode, wherein the aim of planning the length track of the lifting rope is to adjust the horizontal gesture of the module to a preset value, and planning the track of the translation motor (horizontal displacement platform) is to ensure that the position change of the lifting object in the horizontal gesture adjusting process is as small as possible.

In addition, it should be noted that, in the process of starting the steering adjustment mode and/or the position adjustment mode and/or the posture adjustment mode, the data processing device may acquire the current tension of the rope detected by the tension sensor, and when the current tension of the rope is smaller than a preset tension threshold, the rope length controller is invoked to control the rope driving mechanism to shorten the rope length corresponding to the rope, so as to fine-tune the posture of the hoisted object; or when the current tension of the rope is larger than the preset tension threshold, the rope length controller is called to control the rope driving mechanism to slightly increase the rope length corresponding to the rope so as to finely adjust the posture of the hoisted object.

Sloshing suppressing mode

Further, in an embodiment, as shown in fig. 7, the shake suppression mode (thrust controller) is specifically described in this embodiment:

in this embodiment, the lifting pose control system further includes a plurality of thrusters, where a plurality of thrusters are disposed on the lifting frame or on the lifting object;

and in the process of starting the shaking suppression mode, the data processing device calculates the speed of the lifting frame according to the space attitude data measured by the inertia measurement unit, calculates the expected damping force and direction required by each thruster according to the speed of the lifting frame, and calls the thrust controller to control each thruster to work according to the expected damping force and direction so as to realize oscillation suppression.

Specifically, the system corresponding to the shake suppression mode can acquire speed feedback of the hoisting frame according to the reading of the inertial measurement unit, and calculate damping thrust of a group of thrusters according to the internal model. Then in the thrust controller, by controlling the rotation speed of the rotor or the pitch of the rotor (the rotor is an integral part of the thruster), a combined damping force acting on the lifting frame is generated, and the task corresponding to the shake-suppressing mode ends when the movement speed of the lifting frame is smaller than the preset speed threshold.

In a specific implementation, the thruster may include a propeller blade and a rotation driving member for driving the propeller blade to rotate, and the rotation driving member provides a thrust force in a direction opposite to the swing direction of the lifting device 100 by driving the propeller blade to rotate. The data processing device can calculate the speed of the lifting frame 11 according to the data measured by the inertia measuring unit, calculate the expected damping force and the direction required to be provided by each thruster according to the speed of the lifting frame 11, then calculate the rotating speed of the propeller blades and the pitch angle of the propeller blades, and execute the calculation by the rotating driving piece so as to realize oscillation suppression. Alternatively, the rotary drive may be, but is not limited to, an electric motor.

The first embodiment of the application has the beneficial effects that: the data processing device of the lifting pose control system calls the controllers corresponding to the functional modules according to the data detected by the sensors to drive the executing mechanism and control the pose of the lifting object, so that assistance can be provided for working decision of tower crane operators, operators do not need to risk to approach to the module to be mounted which is lifted in the air, and safety of the operators and accuracy and reliability of module mounting are ensured; and then can reduce the human cost in the modularization building work, improve the equipment quality and the packaging efficiency of module.

Example two

Based on the substrate of the first embodiment, a second embodiment is provided, in which the computer aided vision system CAVS is mainly configured to identify a pose error of the hoisting device relative to a target installation position, and generate adjustment suggestion data based on the pose error; displaying the predicted gesture information related to the adjustment suggestion data in a preset visual area;

in a specific implementation, the computer-aided vision system includes a plurality of image sensors, as shown in fig. 1, each image sensor 01 of the computer-aided vision system is disposed at a side corner position of the lifting frame 11, and each image sensor 01 is configured to collect current image information, where the current image data includes image information corresponding to a current posture of the lifting object 300 and image information corresponding to the target installation position;

As shown in fig. 8, the surface shape of the lifting frame 11 is rectangular, and the computer-aided vision system of the present embodiment includes four image sensors 01, which are disposed at four side corner positions of the lifting frame 11, and the image sensors may be cameras, and the cameras can cover most of the area of the module to be installed, as shown in fig. 8, especially the environment around the bottom of the lifting object 300, so that a remote operator can clearly see the error between the lifting object 300 and the target position; the embodiment can be computer vision software of a computer aided vision system, and the current image information collected by each camera is processed and calculated by the computer vision software to identify the image information of the hoisted object 300 and the image information of the target installation position;

on the basis of the scheme, if the computer aided vision system CAVS receives a 'ready' signal transmitted by the data processing device APAS-CS, the computer aided vision system CAVS executes image acquisition work of each image sensor on the hoisted object, and performs image model reconstruction (specifically, four current images) on current image information acquired by each camera in a virtual scene to obtain a complete simulated reconstructed image, wherein the simulated reconstructed image comprises current posture information and target position posture of the hoisted object as shown in fig. 9; the four image sensors (cameras) of the embodiment are respectively positioned at the corner position A, the corner position B, the corner position C and the corner position D of the side surface of the lifting frame 11, four current images are collected by the four cameras together, and computer vision software can reconstruct the four current images;

It should be noted that, the lifting pose control system of the present application includes an inertial measurement unit (Inertial Measurement Unit, IMU), as shown in fig. 1, the inertial measurement unit 03 is disposed at a surface corner position of the lifting frame 11, and is used for detecting spatial pose data of the lifting object, where the spatial pose data specifically includes a triaxial pose angle (or angular rate) and acceleration of the lifting object.

Specifically, the computer-aided vision system of the present embodiment performs image model reconstruction on each piece of current image information in a virtual scene based on the spatial pose data to obtain a simulated reconstructed image; the simulation reconstruction image comprises current posture information and target position posture of the hoisted object;

in a specific implementation, computer vision software of a computer-aided vision system identifies current image data acquired by each camera to obtain image information of a hoisted object and image information of a target installation position, obtains relevant position feature information based on the image information of the hoisted object and the image information of the target installation position, fuses the relevant position feature information with spatial posture data measured by the IMU, and further can realize visual image reconstruction of the hoisted object and the relevant position feature information of the target installation position in a simulation environment to obtain a simulation reconstruction image, wherein the simulation reconstruction image comprises current posture information and target position posture of the hoisted object as shown in fig. 9; the computer-aided vision system identifies a pose error of the hoist relative to a target installation position based on the simulated reconstructed image, generates adjustment suggestion data based on the pose error, and generates predicted pose information related to the adjustment suggestion data.

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

in this embodiment, the computer-aided vision system may further include an augmented reality display device, where the preset visual area may be an AR interface of the augmented reality display device, and the augmented reality display device may be a mobile terminal device such as a safety helmet or a smart phone worn by an operator of the tower crane; the AR interface contains a real-time image with a marker (as shown in fig. 4), which may specifically include: and displaying errors between the current posture information of the hoisted object and the posture of the target position, and displaying results generated by predicting the posture information and adjusting the recommended data.

The man-machine interaction device APAS-CP is mainly used for responding to the adjustment control instruction of the user;

as shown in fig. 2, the man-machine interaction device may be an operation panel, where the operation panel is directly controlled by an operator of the tower crane, and the man-machine interaction device may include remote sensing and keys, where the remote sensing may include a horizontal position knob with 2 degrees of freedom, a vertical position knob with 1 degree of freedom, and a steering angle knob with 1 degree of freedom.

It can be understood that the user is an operator, for which the task is to evaluate the current tower crane working condition by using the adjustment suggestion data, the predicted gesture information, the current gesture information of the hoisted object and the target position gesture generated by the computer-aided vision system, and send a proper control instruction by using the man-machine interaction device APAS-CP.

The tower crane operator of the embodiment can accurately sense the current actual position and the target installation position of the module (the hoisted object) to be installed through a preset visual area (such as an AR interface), and can efficiently make an adjustment control instruction and an adjustment decision under the guidance of adjustment suggestion data given by computer-aided software, and the computer-aided visual system can display predicted pose information related to the adjustment control instruction in the preset visual area. The adjustment control command may be a horizontal position control command/a vertical position control command/an angle steering command or the like.

Furthermore, it should be noted that, in the above embodiment, the data processing device APAS-CS receives the motion command as the adjustment control command or the adjustment suggestion data, that is, the data processing device APAS-CS can be used to control the lifting device according to the adjustment suggestion data or the adjustment control command to adjust the pose of the lifting object.

Specifically, the data processing device APAS-CS of the second embodiment may receive a control instruction from the man-machine interaction device APAS-CP or adjustment suggestion data automatically generated by CAVS, and coordinate execution mechanisms corresponding to various sensors and functional modules to execute the adjustment control instructions to control the hoisting device to adjust the pose of the hoisted object;

in a specific implementation, the present embodiment may control the lifting device in two ways to adjust the pose of the lifted object:

in one mode, a user checks adjustment suggestion data generated by the computer aided vision system CAVS, the user can fine tune the adjustment suggestion data according to the actual operation experience of the user, and then the adjusted motion instruction is sent to the data processing device APAS-CS so as to realize manual operation of the user.

In the second mode, the data processing device APAS-CS of the present embodiment may also directly control the lifting device according to the adjustment suggestion data generated by the computer-aided vision system CAVS to adjust the pose of the lifting object, that is, when the lifting device moves the lifting object 300 to the desired range near the target position and the azimuth, the computer-aided vision system CAVS automatically identifies the pose error of the lifting object relative to the target installation position, generates the adjustment suggestion data based on the pose error, and then the data processing device APAS-CS directly controls the lifting device according to the adjustment suggestion data corresponding to the pose error to adjust the pose of the lifting object, thereby omitting manual operation and improving the intelligentization degree. The adjustment suggestion data generated by the computer aided vision system CAVS may at least comprise: a) A horizontal position adjustment suggestion; b) An orientation adjustment suggestion; c) Height adjustment advice; d) State transition adjustment suggestions, including leveling and sloshing suppression.

For example, when the computer aided vision system CAVS detects that the hoisted object 300 is in an inclined posture relative to the horizontal plane (or after the operator manually determines that the hoisted object 300 is in an inclined posture), the data processing device APAS-CS sends an adjustment control instruction to the data processing device APAS-CS through the man-machine interaction device APAS-CP, and the data processing device APAS-CS can control the rope driving mechanism 20 to adjust the hoisted object 300 by calling the rope length controller so that the hoisted object 300 is in a horizontal posture, and the horizontal posture can be but is not limited to that the contact surface of the hoisted object 300 is parallel to the target position, for example, the bottom surface of a module of the modular building is parallel to the top surface of the building. In this way, by the cooperation of the mass distribution adjusting mechanism 13 and the rope driving mechanism 20, the hoisted object 300 can be adjusted to a desired position so that the hoisted object 300 can be accurately placed on the target position, for example, the hoisted object 300 can be positioned right above the target position in the vertical direction in the horizontal position so that the hoisted object 300 can be accurately placed on the target position.

In addition, in this embodiment, the man-machine interaction device CAVS may further include a "start shake suppression key," "start leveling key," "emergency stop key," and an "emergency lifting key" as shown in fig. 2, and if an operator finds that there is a problem in lifting or transporting a lifting object, the operator may execute a desired preset functional task by pressing the "start shake suppression key"/"start leveling key";

Furthermore, in other embodiments, in case of an emergency, the operator may trigger an "emergency stop button" and an "emergency lift button" of the human-computer interaction device APAS-CP, by which an "emergency stop" command is quickly sent to the data processing device APAS-CS to stop all running tasks and keep all actuators stationary; and rapidly sending an emergency lifting command to the data processing device APAS-CS through an emergency lifting key so as to lift the hoisted object to a preset height and then keeping all the actuators stationary.

The second embodiment has the beneficial effects that the control system of the second embodiment combines the actual field construction environment and the operation flow, different types of sensors are deployed on the combined hoisting equipment, and the control system is based on adjustment suggestion data of a computer aided vision system CAVS or adjustment control instructions of a man-machine interaction device APAS-CP so as to cope with the complex field environment, and has robustness and practicability; further, a hoisting auxiliary control technical scheme which can be deeply assisted, is safe and efficient and has an expanding value is provided; the safety of the lifting process is enhanced and an interface and a platform are provided for full-automatic lifting while all functions of the existing lifting process can be successfully completed; the labor cost in the modularized building work is further reduced, and the assembly quality and the assembly efficiency of the module are further improved.

Example III

Based on the hoisting pose control systems of the first embodiment and the second embodiment, the third embodiment correspondingly provides an embodiment of a hoisting pose control method, wherein the hoisting pose control method can be understood as a control program and is applied to the data processing device of the hoisting pose control system of the first embodiment and the second embodiment;

the control method of the present embodiment includes the following steps:

The lifting pose control method introduced in the third embodiment is basically identical to the technical solutions of the lifting pose control system described in the first embodiment and the second embodiment, and the detailed description of the embodiment is not repeated herein, and the specific implementation manner may refer to the technical solutions of the lifting pose control system described in the first embodiment and the second embodiment.

In addition, in an embodiment, the hoisting pose control method provided in the embodiment further includes the following steps:

a1, a man-machine interaction device stores the adjustment control instruction into a preset cache area to serve as a current cache instruction;

A2, the data processing device generates current simulation attitude information for the hoisted object according to the current caching instruction;

a3, the computer-aided vision system displays the current simulation attitude information of the hoisted object in the preset visual area;

and step A4, the man-machine interaction device responds to the instruction sending operation of a user and sends the current caching instruction to the data processing device, so that the data processing device controls hoisting equipment according to the current caching instruction to adjust the pose of the hoisted object.

It will be appreciated that once the tower crane operator has made an accurate determination of accurate perception of the current actual position of the module to be installed and the target installation position, the tower crane operator may begin adjusting the rockers on the human interaction device, for example, a horizontal position knob comprising 2 degrees of freedom, a Vertical Position Knob (VPK) comprising 1 degree of freedom, and a steering angle knob comprising 1 degree of freedom. The corresponding adjustment control instruction is cached in a preset cache area of the man-machine interaction device to serve as a current cache instruction, the preset visual area can present a visual result of current simulation gesture information generated based on the current cache instruction, and meanwhile, the visual area can display a visual result corresponding to predicted gesture information related to adjustment suggestion data, current gesture information of the hoisted object and target position gesture.

The visual result of the current simulation gesture information can be compared and analyzed with the visual result corresponding to the predicted gesture information, the current gesture information and the target position gesture of the hoisted object, the analysis result is used as a reference to obtain a desired operation demand result, and thus the tower crane operator can continuously operate a remote rod and a key on the man-machine interaction device according to the operation demand result so as to adjust the current cache instruction in the preset cache area until the current simulation gesture information is satisfied. Then, the tower crane operator can send the current buffer instruction in the preset buffer area to the data processing device by pressing a 'confirm rocker operation' button, so that the data processing device controls the lifting device according to the current buffer instruction to adjust the pose of the lifting object. The tower crane operator may also reset the current buffer instruction in the preset buffer area to zero. The current simulation attitude information, the predicted attitude information and the current attitude information of the hoisted object are displayed in the visualization area, so that references can be provided for the decision of a tower crane operator, the tower crane operator can operate the man-machine interaction device according to the self decision to adjust the current cache instruction in the preset cache area until the current simulation attitude information is satisfied, and the operation and use experience of the tower crane operator is provided.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the respective functional systems, apparatuses and controllers is illustrated, and in practical applications, the above-described functions may be allocated to be performed by different functional units or modules according to needs, i.e. the internal structure is divided into different functional units or modules, so as to perform all or part of the functions described above. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application implements all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to an electronic device, a recording medium, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims

1. The lifting pose control system is characterized by being applied to lifting equipment, wherein the lifting equipment is connected with a lifting object, and the lifting pose control system comprises a data processing device;

2. The hoist and mount pose control system of claim 1, wherein:

in the process of executing the steering adjustment mode, the position adjustment mode or the gesture adjustment mode, if the data processing device detects that the lifting state of the lifting object reaches the preset swinging amplitude and/or the preset swinging speed, the steering adjustment mode, the position adjustment mode or the gesture adjustment mode is closed, and the swinging inhibition mode is started to inhibit swinging of the lifting object;

3. The hoist-pose control system of claim 1, characterized in that the hoist-pose control system further comprises a computer-aided vision system and a human-machine interaction device;

4. A lifting gesture control system according to any one of claims 1 to 3, wherein the lifting device further comprises a lifting frame and a lifting appliance, the lifting appliance being connected to the lifting frame or the mass distribution adjustment mechanism for connecting a lifting object; the mass distribution adjusting mechanism is connected with the hoisting frame and is used for adjusting the mass distribution of the combination of the hoisted object and the hoisting frame so as to be matched with the rope driving mechanism to realize the horizontal position adjustment of the hoisted object;

5. The lifting gesture control system of claim 4, further comprising a plurality of thrusters, a plurality of the thrusters being disposed on the lifting frame or on the lifting object;

6. A lifting gesture control system according to claim 3, wherein the computer-aided vision system comprises a plurality of image sensors, each image sensor of the computer-aided vision system is arranged at a side corner position of the lifting frame, each image sensor is used for acquiring current image information, and the current image data comprises image information corresponding to the current gesture of the lifting object and image information corresponding to the target installation position;

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

8. A hoisting pose control method, characterized in that the hoisting pose control method is applied to a data processing device of a hoisting pose control system according to any one of claims 1-7, the hoisting pose control system is applied to hoisting equipment, the hoisting equipment is connected with a hoisted object, and the hoisting equipment comprises a tension sensor, an inertia measuring unit and a displacement sensor;

the control method comprises the following steps:

9. The control method according to claim 8, wherein the data processing apparatus makes control scheduling for the steering adjustment mode, the position adjustment mode, the posture adjustment mode, and the shake suppression mode according to a preset security rule, further comprising:

or (b)

10. The control method of claim 8, wherein the control system further comprises a computer-aided vision system and a human-machine interaction device, the control method further comprising:

11. The hoist and mount attitude control system of claim 8, characterized in that during activation of the steering adjustment mode, the position adjustment mode, and/or the attitude adjustment mode, the control method further includes:

12. Hoisting pose control system as claimed in claim 8, characterized in that during the actuation of the steering adjustment mode and/or the position adjustment mode and/or the pose adjustment mode the control method further comprises:

13. The hoisting pose control method according to claim 10, wherein the computer-aided vision system comprises a plurality of image sensors, each image sensor being configured to collect current image information, the current image data comprising image information corresponding to a current pose of the hoisted object and image information corresponding to the target installation position;

14. The hoisting pose control method of claim 13, wherein the control method further comprises:

15. The hoisting pose control method according to any one of claims 10 to 14, characterized in that the hoisting pose control method further comprises: