WO2023159933A1

WO2023159933A1 - Motion control method and device for intelligent tower crane

Info

Publication number: WO2023159933A1
Application number: PCT/CN2022/120773
Authority: WO
Inventors: 赵晓东; 陈曦; 方赟
Original assignee: 杭州未名信科科技有限公司; 浙江省北大信息技术高等研究院
Priority date: 2022-02-22
Filing date: 2022-09-23
Publication date: 2023-08-31
Also published as: CN114212688A; CN114212688B

Abstract

The present application relates to the technical field of intelligent tower cranes, and in particular to a motion control method and device for an intelligent tower crane. The method comprises: providing a plurality of groups of sensors on an intelligent tower crane, and establishing a plurality of models by means of data acquired by the plurality of groups of sensors; according to service request information in a preset application scenario and data acquired by the sensors, performing unified coordination on the plurality of models, and outputting combined control information; performing closed-loop calculation and analysis on a single motion system, adjusting the combined control information, and outputting a control command; and sending the control command to a motor so as to mobilize the intelligent tower crane to work. The present application implements real intelligent control of an intelligent tower crane, improves the action of implementing speed control by controlling a frequency converter of the tower crane by a handle, and reduces the dependence on manual operations. Moreover, according to the present application, control commands which do not work or are out of range can be filtered out, so that control instructions for correcting deviations are quickly issued, thereby achieving the purpose of accurate and efficient tower crane control.

Description

A motion control method and device for an intelligent tower crane

technical field

The present application relates to the technical field of intelligent tower cranes, and more specifically, the present application relates to a motion control method and device for intelligent tower cranes.

Background technique

The current tower crane drivers are extremely lacking, and the working environment of tower cranes is also quite complicated, such as construction sites and ports. At present, each tower crane is controlled by the driver, and it is impossible to carry out unified coordination at the control level. It only prompts possible collisions and monitors the background operation. The personnel at the lifting site carry out binding and hanging, and command the operation of the tower crane through walkie-talkies and whistle flags. The work here is not standardized enough. In addition, the same is true for the blanking site. The positioning and direction are adjusted manually to complete the blanking. The whole process is controlled by personnel and professionally qualified operators. The operation is always controlled by the handle to control the frequency converter of the tower crane. Therefore, tower cranes urgently need to solve the problem of intelligent control.

Contents of the invention

Based on the above technical problems, the present invention aims to solve the problem that the intelligent tower crane is too dependent on manual control, and proposes a motion control method and device for the intelligent tower crane. The data can be calculated and analyzed, and control instructions for correcting deviations can be issued quickly, so as to achieve accurate and efficient tower crane control.

The first aspect of the present invention provides a motion control method for an intelligent tower crane, which is applied to an intelligent tower crane, and the method includes:

Setting multiple sets of sensors on the intelligent tower crane, and using the data collected by the multiple sets of sensors to establish multiple models;

According to the service request information in the preset application scenario and the data collected by the sensor, the multiple models are unified and coordinated, and the combined control information is output;

Perform closed-loop calculation and analysis on a single motion system, adjust combined control information, and output control commands;

Send the control command to the motor to mobilize the smart tower crane to work.

In some embodiments of the invention, the multiple sets of sensors are set on the smart tower crane, and multiple models are established using the data collected by the multiple sets of sensors, including:

Set sensors on the tower body, trolley and hook head of the intelligent tower crane respectively;

Multiple stability models are established by using the data collected by the sensors set on the tower body, trolley and hook head.

In some embodiments of the invention, the data collected by the sensors set by the tower body, the trolley and the hook head are used to establish multiple stability models, including:

The data collected by the sensors installed on the tower body, trolley and hook head are sent to the processor of the control system;

The processor of the control system calculates the optimal control parameters through the control algorithm, and this process is used as multiple stability models, wherein the multiple stability models include the tower body stability model, the trolley stability model and the hook head stability model.

In some embodiments of the present invention, according to the service request information in the preset application scenario and the data collected by the sensor, the unified coordination of multiple models is carried out, and the combined control information is output, including:

Obtain service request information and data collected by sensors in preset application scenarios;

Compare the service request information in the preset application scenario with the data collected by the sensor, and substitute the updated data into the corresponding stable model;

The output values of the corresponding stability models are integrated to obtain a combined control command.

In some embodiments of the present invention, the closed-loop calculation and analysis of a single motion system, adjustment of combined control information, and output of control commands include:

Perform closed-loop calculation and analysis on a single motion system, where the calculation and analysis methods are multi-access edge computing, micro-cloud computing or fog computing;

According to the calculation and analysis results, adjust the combined control information and output the control command.

The second aspect of the present invention provides a motion control device for an intelligent tower crane, the device comprising:

The data manager is used to establish multiple models using the data collected by multiple sets of sensors set on the intelligent tower crane;

The combined control module is used to coordinate multiple models in a unified manner according to the service request information in the preset application scenario and the data collected by the sensor, and output combined control information;

The edge computing module is used to perform closed-loop calculation and analysis on a single motion system, adjust combined control information, and output control commands;

The sending module is used to send the control command to the motor to mobilize the smart tower crane to work.

Wherein, the sensors include a nine-axis attitude sensor, a load cell, an inclination sensor, a wind speed sensor and a wind direction sensor; the service request information in the preset application scenario is transmitted through a PC.

Further, the device is a luffing unit, a slewing unit and a lifting unit.

The third aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

The fourth aspect of the present invention provides a computer program product, including a computer program, and when the computer program is executed by a processor, the following steps are implemented:

The beneficial effects of the present application are: the present application uses the data collected by multiple sets of sensors to establish multiple models, and according to the service request information in the preset application scenario and the data collected by the sensors, the multiple models are unified and coordinated, and the combined control information is output. Carry out closed-loop calculation and analysis on a single motion system, adjust the combined control information, output control commands, and send the control commands to the motor to mobilize the smart tower crane to work, realizing the real intelligent control of the smart tower crane and improving the reliability. The handle controls the frequency converter of the tower crane to realize the action, reducing the dependence on manual operation. Moreover, the application performs closed-loop calculation and analysis on a single motion system, which can filter ineffective or out-of-range control commands, so as to quickly issue control commands for correcting deviations, and then achieve precise and efficient tower crane control purposes.

Description of drawings

The accompanying drawings, which constitute a part of this specification, illustrate the embodiments of the application and, together with the description, serve to explain the principles of the application.

The present application can be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

Fig. 1 shows the schematic diagram of the steps of the motion control method of the intelligent tower crane in the exemplary embodiment of the present application;

Fig. 2 shows a schematic diagram of another motion control method of an intelligent tower crane in an exemplary embodiment of the present application;

Fig. 3 shows the schematic diagram of the sensor in the exemplary embodiment of the present application;

Fig. 4 shows the structure diagram of the motion control method device of the intelligent tower crane of the exemplary embodiment of the present application;

FIG. 5 shows a schematic structural diagram of a computer device provided by an exemplary embodiment of the present application;

Fig. 6 shows a schematic diagram of a storage medium provided by an exemplary embodiment of the present application.

Detailed ways

Hereinafter, embodiments of the present application will be described with reference to the drawings. However, it should be understood that these descriptions are illustrative only and are not intended to limit the scope of the application. Also, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concept of the present application. It will be apparent to those skilled in the art that the present application may be practiced without one or more of these details. In other examples, some technical features known in the art are not described in order to avoid confusion with the present application. It should be noted that the terminology used herein is only for describing specific embodiments, and is not intended to limit the exemplary embodiments according to the present application. As used herein, singular forms are intended to include plural forms unless the context clearly dictates otherwise. In addition, it should also be understood that when the terms "comprising" and/or "comprising" are used in this specification, it indicates the presence of the features, integers, steps, operations, elements and/or components, but does not exclude the presence or One or more other features, integers, steps, operations, elements, components and/or combinations thereof are added.

Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. These example embodiments may, however, be embodied in many different forms and should not be construed as limited to only the embodiments set forth herein. The figures are not drawn to scale, in which certain details may be exaggerated and certain details may be omitted for the purpose of clarity of presentation. The shapes of the various regions and layers shown in the figure, as well as their relative sizes and positional relationships are only exemplary, and may deviate due to manufacturing tolerances or technical limitations in practice, and those skilled in the art will Regions/layers with different shapes, sizes, and relative positions can be additionally designed as needed.

Several embodiments are given below in conjunction with Figs. 1-6 of the specification to describe exemplary implementations according to the present application. It should be noted that the following application scenarios are only shown for easy understanding of the spirit and principle of the present application, and the implementation manners of the present application are not limited in this respect. On the contrary, the embodiments of the present application can be applied to any applicable scene.

Example 1:

This embodiment implements a motion control method for an intelligent tower crane, as shown in Figure 1, applied to an intelligent tower crane, the method includes:

S1, setting multiple sets of sensors on the smart tower crane, and using the data collected by the multiple sets of sensors to establish multiple models;

S2. According to the service request information in the preset application scenario and the data collected by the sensor, coordinate multiple models in a unified manner, and output combined control information;

S3. Perform closed-loop calculation and analysis on a single motion system, adjust combined control information, and output control commands;

S4. Send the control command to the motor to mobilize the smart tower crane to work.

In a possible implementation manner, multiple sets of sensors are set on the intelligent tower crane, and multiple models are established using the data collected by the multiple sets of sensors, including: respectively setting up the tower body, trolley and hook head of the intelligent tower crane Set the sensors; use the data collected by the sensors set on the tower body, trolley and hook head to establish multiple stability models.

In a possible implementation, multiple stability models are established using the data collected by the sensors set on the tower body, the trolley and the hook head, including: the data collected by the sensors set on the tower body, the trolley and the hook head are transmitted to The processor of the control system; the processor of the control system calculates the optimal control parameters through the control algorithm, and this process is used as multiple stability models, wherein the multiple stability models include the tower body stability model, the trolley stability model and the hook head stability model.

In a preferred implementation manner, the unified coordination of multiple models according to the service request information in the preset application scenario and the data collected by the sensor, and the output of combined control information includes: obtaining the service in the preset application scenario Request information and data collected by sensors; compare the service request information and data collected by sensors in preset application scenarios, and substitute the updated data into the corresponding stable model; integrate the output values of the corresponding stable models to obtain combined control Order.

In another preferred embodiment, the performing closed-loop calculation and analysis on a single motion system, adjusting combined control information, and outputting control commands includes: performing closed-loop calculation and analysis on a single motion system, wherein the calculation and analysis method It is multi-access edge computing, micro-cloud computing or fog computing; according to the calculation and analysis results, adjust the combined control information and output control commands.

This application uses the data collected by multiple sets of sensors to establish multiple models, and according to the service request information in the preset application scenario and the data collected by the sensors, coordinates multiple models, outputs combined control information, and performs closed-loop calculation for a single motion system And analysis, adjust and combine control information, output control command, send the control command to the motor to mobilize the intelligent tower crane to work, realize the real intelligent control of the intelligent tower crane, and improve the frequency converter that controls the tower crane by the handle The speed regulation realizes the action, which reduces the dependence on manual operation, especially the closed-loop calculation and analysis of a single motion system, which can filter out the control commands that do not work or exceed the range, so as to quickly issue control commands for correcting deviations, and then achieve precision and accuracy. Efficient tower crane control purposes.

Example 2:

This embodiment provides a motion control method for an intelligent tower crane, and the specific steps are described in detail as follows. In the first step, multiple sets of sensors are installed on the smart tower crane, and multiple models are established using the data collected by the multiple sets of sensors.

It should be noted that the sensors can be of various types. Referring to FIG. 2 , the sensors include a nine-axis attitude sensor, a load cell, an inclination sensor, a wind speed sensor, and a wind direction sensor. The attitude sensor is a high-performance three-dimensional motion attitude measurement system based on MEMS technology. The nine-axis attitude sensor includes three-axis gyroscope, three-axis accelerometer, three-axis geomagnetism and other motion sensors. The temperature-compensated three-dimensional attitude and orientation data are obtained through the embedded low-power ARM processor. Using the quaternion-based 3D algorithm and special data fusion technology, the zero-drift 3D attitude and orientation data represented by quaternion and Euler angles are output in real time.

In a possible specific implementation manner, multiple sets of sensors are set on the intelligent tower crane, and multiple models are established using the data collected by the multiple sets of sensors, including: respectively setting up the tower body, trolley and hook of the intelligent tower crane Sensors are installed on the head; multiple stability models are established using the data collected by the sensors installed on the tower body, trolley and hook head.

In the second step, according to the service request information in the preset application scenario and the data collected by the sensor, the multiple models are unified and coordinated, and the combined control information is output.

In a possible specific implementation manner, the unified coordination of multiple models according to the service request information in the preset application scenario and the data collected by the sensor, and the output of combined control information includes: obtaining the service request information in the preset application scenario Service request information and data collected by sensors; compare service request information in preset application scenarios with data collected by sensors, and substitute the updated data into the corresponding stable model; integrate the output values of the corresponding stable models to obtain a combination control commands.

In the specific implementation, for example: before the operation of the tower crane, the height, speed, speed of the trolley and the swing angle of the hook head are preset first, and then according to the real-time data collected by the sensor after the operation of the tower crane, according to the preset conditions and Real-time data collection, the expert system compares the preset conditions with the real-time collected data, then substitutes the updated data into the control algorithm calculation, and finally integrates the updated control algorithm output values of the three models to issue a combined control command. The stable model of the tower body, the stable model of the trolley, and the stable model of the hook head are managed and coordinated with each other in a unified manner. The tower body stability model, trolley stability model, and hook head stability model can determine the terminal posture displacement and change through the robot's forward kinematics model, namely the DH matrix, so as to determine the ideal posture of the trolley and the hook head.

The third step is to perform closed-loop calculation and analysis on a single motion system, adjust the combined control information, and output control commands.

In a possible specific implementation, closed-loop calculation and analysis is performed on a single motion system, wherein the calculation and analysis methods are multi-access edge computing, micro-cloud computing or fog computing; according to the calculation and analysis results, the combined control is adjusted Information, output control commands.

In special cases, for example, during the operation of the tower crane, if the hook is close to pedestrians, adjust the hook control information, and then control the overall operation of the tower crane under the condition of ensuring safety. For another example, when the trolley and the hook unit are both stable, the tower body is unstable, and it is necessary to control a single tower body stabilization motion system to ensure the stability of the tower body, without changing the output commands of other models , through the closed-loop calculation and analysis of the tower itself, the control command is output. Send the control command to the motor, and in the combined control command, only adjust the model output command of a single component to adjust the combined control information, and then realize the mobilization of the smart tower crane to work while saving most of the resources.

The fourth step is to send the control command to the motor to mobilize the smart tower crane to work. Refer to Figure 3 here, before sending the motor, it needs to be sent to the motor-driven servo board, and the motor-driven servo board drives the motor, and then mobilizes the smart tower crane to work, such as the tower crane lifts the goods, moves to the required position and then unloads. As shown in Figure 3, the handheld mobile terminal can send the service request information of the preset application scene, and the information is sent to the PC through the network, and the PC sends the information to the motion control device for motion control. Multiple sets of sensing information are also received. The motion control device has edge computing capability to calculate and analyze the combined sensor information and the service request information in the preset application scenario, and use the calculated and analyzed information as a control command to calculate and analyze the control command , by comparing with the preset reasonable range, the part that exceeds the range is regarded as the problem control signal, and the signal that exceeds the set value in a small range can be adjusted and controlled by a percentage and then becomes a normal signal for execution, and the signal that exceeds the set value in a large range is identified If it is an invalid signal, give up execution and wait for the next update of the signal. For example, when it is required to lift the cargo at what speed, it is necessary to integrate the wind speed, wind direction, attitude measured in the sensor data, and the position and nature of the cargo, etc., comprehensive calculation and analysis, to achieve intelligent control, and filtering does not work Or out-of-range control commands, so as to quickly issue control commands to correct deviations, and then achieve precise and efficient tower crane control.

Example 3:

This embodiment provides a motion control device for an intelligent tower crane, as shown in Figure 4, the device includes:

The data manager 401 is used to establish multiple models using the data collected by multiple sets of sensors set on the intelligent tower crane;

The combined control module 402 is used to coordinate multiple models in a unified manner according to the service request information in the preset application scenario and the data collected by the sensor, and output combined control information;

The edge computing module 403 is used to perform closed-loop calculation and analysis on a single motion system, adjust combined control information, and output control commands;

The sending module 404 is configured to send the control command to the motor, so as to mobilize the smart tower crane to work.

In a specific implementation, the sensors include a nine-axis attitude sensor, a load cell, an inclination sensor, a wind speed sensor, and a wind direction sensor; the service request information in the preset application scenario is transmitted through a PC. As an alternative embodiment, the PC can also be replaced by a data receiving box or other communicable terminals. In addition, the data manager here is preferably a fireworks-type data manager. Further, as shown in FIG. 2 , the device is preferably a luffing unit, a turning unit and a lifting unit. When the tower crane is working, the device can automatically turn on the control mode, and complete the work of transporting materials through the carrier, spreader, and fixture. run.

This device can be applied to various complex tower airport sites, where 4G and 5G networks are laid at each tower airport site. The motion control device of the intelligent tower crane integrated with the edge computing function realizes the real intelligent control of the intelligent tower crane, improves the speed regulation of the inverter controlling the tower crane by the handle, and reduces the dependence on manual operation. Moreover, this device performs closed-loop calculation and analysis on a single motion system, and can filter ineffective or out-of-range control commands, so as to quickly issue control commands for correcting deviations, thereby achieving precise and efficient tower crane control purposes.

Please refer to FIG. 5 below, which shows a schematic diagram of a computer device provided by some embodiments of the present application. As shown in Figure 5, described computer equipment comprises: processor 200, memory 201, bus 202 and communication interface 203, described processor 200, communication interface 203 and memory 201 are connected by bus 202; Stored in the memory 201 A computer program that can run on the processor 200. When the processor 200 runs the computer program, it executes the motion control method of the intelligent tower crane provided in any one of the foregoing embodiments of the present application. The computer device may have Computer devices with touch-sensitive displays. Wherein, the memory 201 may include a high-speed random access memory (RAM: Random Access Memory), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 203 (which may be wired or wireless), and Internet, wide area network, local network, metropolitan area network, etc. can be used.

The bus 202 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus can be divided into address bus, data bus, control bus and so on. Wherein, the memory 201 is used to store a program, and the processor 200 executes the program after receiving the execution instruction, and the motion control method of the intelligent tower crane disclosed in any one of the above-mentioned embodiments of the present application can be applied to processing in the processor 200, or implemented by the processor 200.

The processor 200 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method may be implemented by an integrated logic circuit of hardware in the processor 200 or instructions in the form of software. The above-mentioned processor 200 can be a general-purpose processor, including a central processing unit (Central Processing Unit, referred to as CPU), a network processor (Network Processor, referred to as NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), off-the-shelf programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. Various methods, steps, and logic block diagrams disclosed in the embodiments of the present application may be implemented or executed. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like. The steps of the method disclosed in the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module can be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other mature storage media in the field. The storage medium is located in the memory 201, and the processor 200 reads the information in the memory 201, and completes the steps of the above method in combination with its hardware.

The computer equipment provided by the embodiment of the present application and the motion control method of the intelligent tower crane provided by the embodiment of the present application are based on the same inventive concept, and have the same beneficial effect as the method adopted, operated or realized.

The embodiment of the present application also provides a computer-readable storage medium corresponding to the motion control method of the intelligent tower crane provided in the foregoing embodiment. Please refer to FIG. 6. The computer-readable storage medium shown in FIG. 6 is an optical disc 30, which A computer program (that is, a program product) is stored on it, and when the computer program is run by the processor, it will execute the motion control method for the intelligent tower crane provided in any of the foregoing implementation manners.

In addition, examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical and magnetic storage media, which will not be repeated here.

The computer-readable storage medium provided by the above-mentioned embodiments of the present application is based on the same inventive concept as the quantum key distribution channel distribution method in the space-division multiplexing optical network provided by the embodiments of the present application, and has the application programs stored therein, The same beneficial effect of the method of operating or achieving.

The embodiment of the present application also provides a computer program product, including a computer program. When the computer program is executed by a processor, the steps of the motion control method for an intelligent tower crane provided in any of the foregoing embodiments are implemented. The steps of the method include: Set multiple sets of sensors on the smart tower crane, and use the data collected by the multiple sets of sensors to establish multiple models; according to the service request information in the preset application scenario and the data collected by the sensors, the multiple models are unified and coordinated, and the output combination control Information; perform closed-loop calculation and analysis on a single motion system, adjust combined control information, and output control commands; send the control commands to the motor to mobilize the smart tower crane to work.

It should be noted that the algorithms and displays presented here are not inherently related to any particular computer, virtual appliance, or other device. Various general purpose devices can also be used with the teachings based on this. The structure required to construct such an apparatus will be apparent from the foregoing description. Furthermore, this application is not directed to any particular programming language. It should be understood that various programming languages can be used to implement the content of the application described here, and the description of specific languages above is to disclose the best implementation mode of the application. In the description provided herein, numerous specific details are set forth. However, it is understood that the embodiments of the application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure the understanding of this description.

Similarly, it should be understood that in the above description of exemplary embodiments of the application, in order to streamline the application and to facilitate understanding of one or more of the various inventive aspects, various features of the application are sometimes grouped together in a single embodiment, figure or its description. This method of disclosure, however, is not to be interpreted as reflecting an intention that the claimed application requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following this Detailed Description are hereby expressly incorporated into this Detailed Description, with each claim standing on its own as a separate embodiment of this application.

Those skilled in the art can understand that the modules in the device in the embodiment can be adaptively changed and arranged in one or more devices different from the embodiment. Modules or units or components in the embodiments may be combined into one module or unit or component, and furthermore may be divided into a plurality of sub-modules or sub-units or sub-assemblies. All features and/or procedures or elements disclosed in this specification, as well as all procedures or elements of any method or apparatus so disclosed, may be combined in any combination, unless at least some of such features and/or procedures or elements are mutually exclusive. Unless expressly stated otherwise, each feature disclosed in this specification may be replaced by alternative features serving the same, equivalent or similar purpose.

The various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all functions of some or all components in the device for creating a virtual machine according to the embodiment of the present application. The present application can also be implemented as a device or an apparatus program for performing a part or all of the methods described herein. The program implementing the present application may be stored on a computer-readable medium, or may be in the form of one or more signals. Such a signal may be downloaded from an Internet site, or provided on a carrier signal, or provided in any other form.

The above is only a preferred embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any skilled person familiar with the technical field can easily think of changes or Replacement should be covered within the protection scope of this application. Therefore, the protection scope of the present application should be determined by the protection scope of the claims.

Claims

A motion control method for an intelligent tower crane, characterized in that it is applied to an intelligent tower crane, the method comprising:

Setting multiple sets of sensors on the intelligent tower crane, and using the data collected by the multiple sets of sensors to establish multiple models;

According to the service request information in the preset application scenario and the data collected by the sensor, the multiple models are unified and coordinated, and the combined control information is output;

Perform closed-loop calculation and analysis on a single motion system, adjust combined control information, and output control commands;

Send the control command to the motor to mobilize the smart tower crane to work.
The motion control method of an intelligent tower crane according to claim 1, wherein multiple sets of sensors are set on the intelligent tower crane, and multiple models are established using the data collected by the multiple sets of sensors, including:

Set sensors on the tower body, trolley and hook head of the intelligent tower crane respectively;

Multiple stability models are established by using the data collected by the sensors set on the tower body, trolley and hook head.
The motion control method of the intelligent tower crane according to claim 2, wherein the data collected by the sensors set by the tower body, the trolley and the hook head are used to establish a plurality of stability models, including:

The data collected by the sensors installed on the tower body, trolley and hook head are sent to the processor of the control system;

The processor of the control system calculates the optimal control parameters through the control algorithm, and this process is used as multiple stability models, wherein the multiple stability models include the tower body stability model, the trolley stability model and the hook head stability model.
The motion control method of the intelligent tower crane according to claim 3, characterized in that, according to the service request information in the preset application scenario and the data collected by the sensor, the multiple models are unified and coordinated, and the combined control information is output ,include:

Obtain service request information and data collected by sensors in preset application scenarios;

Compare the service request information in the preset application scenario with the data collected by the sensor, and substitute the updated data into the corresponding stable model;

The output values of the corresponding stability models are integrated to obtain a combined control command.
The motion control method of an intelligent tower crane according to claim 4, wherein said performing closed-loop calculation and analysis on a single motion system, adjusting combined control information, and outputting a control command includes:

Perform closed-loop calculation and analysis on a single motion system, where the calculation and analysis methods are multi-access edge computing, micro-cloud computing or fog computing;

According to the calculation and analysis results, adjust the combined control information and output the control command.
A motion control device for an intelligent tower crane, characterized in that the device includes:

The data manager is used to establish multiple models using the data collected by multiple sets of sensors set on the intelligent tower crane;

The combined control module is used to coordinate multiple models in a unified manner according to the service request information in the preset application scenario and the data collected by the sensor, and output combined control information;

The edge computing module is used to perform closed-loop calculation and analysis on a single motion system, adjust combined control information, and output control commands;

The sending module is used to send the control command to the motor to mobilize the smart tower crane to work.
The motion control device of an intelligent tower crane according to claim 6, wherein the sensor includes a nine-axis attitude sensor, a load cell, an inclination sensor, a wind speed sensor, and a wind direction sensor; the service in the preset application scenario The request information is transmitted through the PC.
The motion control device of an intelligent tower crane according to claim 6 or 7, wherein the device is a luffing unit, a slewing unit and a lifting unit.
A computer-readable storage medium, on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the steps of the method described in any one of claims 1-5 are implemented.
A computer program product, comprising a computer program, characterized in that, when the computer program is executed by a processor, the steps of the method described in any one of claims 1-5 are implemented.