CN113682963B - Internet of things device and method for real-time remote control of intelligent tower crane path - Google Patents
Internet of things device and method for real-time remote control of intelligent tower crane path Download PDFInfo
- Publication number
- CN113682963B CN113682963B CN202110814975.8A CN202110814975A CN113682963B CN 113682963 B CN113682963 B CN 113682963B CN 202110814975 A CN202110814975 A CN 202110814975A CN 113682963 B CN113682963 B CN 113682963B
- Authority
- CN
- China
- Prior art keywords
- tower crane
- hook
- transported
- path
- task
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Program control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three-dimensional [3D] modelling for computer graphics
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
- G16Y20/00—Information sensed or collected by the things
- G16Y20/10—Information sensed or collected by the things relating to the environment, e.g. temperature; relating to location
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
- G16Y40/00—IoT characterised by the purpose of the information processing
- G16Y40/10—Detection; Monitoring
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
- G16Y40/00—IoT characterised by the purpose of the information processing
- G16Y40/30—Control
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Computing Systems (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Computer Graphics (AREA)
- Geometry (AREA)
- Software Systems (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Health & Medical Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- General Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The embodiment of the application provides an Internet of things device and a method for real-time remote control of an intelligent tower crane path. The method comprises the following steps: receiving and analyzing transport task instruction information of a material to be transported, and calculating and marking three-dimensional coordinates of a target hoisting position in a three-dimensional space model; calculating and setting a first path task for conveying the material to be conveyed to the position under the hook according to the three-dimensional coordinates of the hook and the material to be conveyed; calculating the descending distance of the hook, and controlling the descending distance of the hook to hang and take the material to be transported; calculating and setting a second path task for conveying the material to be conveyed to the target hoisting position, and sending the second path task to the tower crane so as to control the tower crane to convey the material to be conveyed to the three-dimensional coordinate of the target hoisting position according to the second path task. The material conveying hook is fully automatic and unmanned, the material is conveyed to the position below the material conveying hook, the material is hung by the automatic control hook, the material is conveyed to the target lifting position by the control tower crane, and unmanned and intelligent material conveying of the tower crane are realized.
Description
Technical Field
The application relates to the technical field of intelligent tower cranes, in particular to an Internet of things device and a method for real-time remote control of an intelligent tower crane path.
Background
At present, the tower crane is basically operated by personnel in a central control room on the tower crane, or is remotely and intelligently operated in real time by an operator. In the tower crane industry, the current development direction is unmanned tower cranes and intelligent tower cranes, so that a plurality of technical problems are encountered in the process of industrial upgrading.
At present, some tower cranes do not need to be directly controlled by people on the tower cranes, can be remotely controlled by equipment such as a control rod, a computer and the like of a remote control room, but still belong to the category of the tower cranes controlled by people, and the full automation of the material transportation task of the tower cranes can not be realized.
Disclosure of Invention
In view of this, the purpose of this application is to propose a real-time remote control method and device for intelligent tower crane route, this application can be through the automatic analysis of internet of things current position and the extreme point position of waiting to hoist the material, according to the automatic transportation of task requirement to couple below and by couple hanging, transport appointed place by the tower crane again.
Based on the above objects, the present application provides a real-time remote control method for an intelligent tower crane path, comprising:
the method comprises the steps that corresponding position sensors are respectively arranged at a tower crane, a hook, a material to be transported and a target hoisting position, a terminal device receives signals of the position sensors, and a three-dimensional space model of the surrounding environment of the tower crane is built;
marking the positions of the tower crane, the hook and the material to be transported in the three-dimensional space model, and calculating to obtain three-dimensional coordinates of the tower crane, the hook and the material to be transported in the three-dimensional space model;
receiving and analyzing transport task instruction information of a material to be transported, and calculating and marking three-dimensional coordinates of the target hoisting position in the three-dimensional space model;
according to the three-dimensional coordinates of the hooks and the materials to be transported, a first path task for transporting the materials to be transported under the hooks is calculated and set, and the first path task is sent to an unmanned transport vehicle so as to control the transport vehicle to transport the materials to be transported to the position right below the hooks according to the first path task;
calculating the downward moving distance of the hook, and controlling the hook to descend by the downward moving distance so as to hang the material to be transported;
calculating and setting a second path task for conveying the material to be conveyed to the target hoisting position, and sending the second path task to a tower crane so as to control the tower crane to convey the material to be conveyed to the three-dimensional coordinate of the target hoisting position according to the second path task.
Preferably, the respective position sensors are installed at the positions of the tower crane, the hook, the material to be transported and the target hoisting position, the terminal equipment receives signals of the respective position sensors, and a three-dimensional space model of the surrounding environment of the tower crane is built, which comprises:
the method comprises the steps that corresponding position sensors are respectively arranged at the positions of a tower crane, a hook, a material to be transported and a target hoisting position;
each position sensor sends the position of the position sensor to a remote terminal device in real time;
after receiving the signals of the position sensors, the terminal equipment establishes a three-dimensional space model of the surrounding environment of the tower crane by taking the position of the tower crane as a coordinate origin.
Preferably, the marking the positions of the tower crane, the hook and the material to be transported in the three-dimensional space model, and calculating in the three-dimensional space model to obtain three-dimensional coordinates of the tower crane, the hook and the material to be transported, includes:
marking the positions of the tower crane, the hook and the material to be transported in the three-dimensional space model according to the signals of the position sensor;
respectively calculating the distance, angle and direction of the tower crane, the hook and the material to be transported relative to the tower crane by taking the tower crane as an origin;
and calculating to obtain three-dimensional coordinates of the tower crane, the hook and the material to be transported in the three-dimensional space model according to the distance, the angle and the direction of the tower crane, the hook and the material to be transported relative to the tower crane.
Preferably, the receiving and analyzing the transport task instruction information of the material to be transported, calculating and marking the three-dimensional coordinates of the target hoisting position in the three-dimensional space model, and the method includes:
receiving and analyzing transport task instruction information of a material to be transported to obtain target hoisting position information;
marking a target hoisting position in the three-dimensional space model according to signals of the position sensor;
calculating the distance, angle and direction of the target hoisting position relative to the tower crane by taking the tower crane as an origin;
and calculating to obtain the three-dimensional coordinates of the target hoisting position in the three-dimensional space model according to the distance, the angle and the direction of the target hoisting position relative to the tower crane.
Preferably, the calculating and setting the first path task for conveying the material to be conveyed to the position under the hook according to the three-dimensional coordinates of the hook and the material to be conveyed, and sending the first path task to the unmanned carrier vehicle, so as to control the carrier vehicle to convey the material to be conveyed to the position right under the hook according to the first path task, includes:
according to the three-dimensional coordinates of the hooks and the materials to be transported, calculating the three-dimensional coordinates of the materials to be transported to a first transport position right below the hooks, and taking a straight line path between the initial position of the materials to be transported and the first transport position as a first path task;
the first path task is sent to an unmanned transport vehicle, and the transport vehicle analyzes the first path task to obtain an initial position and a first transport position of a material to be transported;
and controlling the transport vehicle to transport the material to be transported from the initial position to the first transport position according to the first path task.
Preferably, the calculating the downward moving distance of the hook and controlling the hook to descend by the downward moving distance to hang the material to be transported includes:
calculating the height difference between the height of the hook and the first transportation position in the three-dimensional space model according to the signal of the position sensor, and taking the height difference as the downward movement distance of the hook;
and controlling the hook to descend by the downward moving distance and hanging the material to be transported.
Preferably, the calculating and setting a second path task for conveying the material to be conveyed to the target hoisting position, and sending the second path task to a tower crane, so as to control the tower crane to convey the material to be conveyed to a three-dimensional coordinate of the target hoisting position according to the second path task, includes:
taking an arc-shaped path between the three-dimensional coordinates of the first transportation position and the three-dimensional coordinates of the target hoisting position as a second path task;
the second path task is sent to a tower crane, and the tower crane analyzes the second path task to obtain the three-dimensional coordinates of a first transportation position and the three-dimensional coordinates of a target hoisting position of the material to be transported;
and controlling the tower crane to convey the material to be conveyed from the first conveying position to the target lifting position according to the second path task.
Based on the above purpose, the application still provides a real-time remote control device for intelligent tower crane route, includes:
the three-dimensional space modeling module is used for respectively installing corresponding position sensors at the positions of the tower crane, the hook, the material to be transported and the target hoisting position, receiving signals of the position sensors by the terminal equipment, and establishing a three-dimensional space model of the surrounding environment of the tower crane;
the coordinate marking module is used for marking the positions of the tower crane, the hook and the material to be transported in the three-dimensional space model, and calculating three-dimensional coordinates of the tower crane, the hook and the material to be transported in the three-dimensional space model;
the task analysis module is used for receiving and analyzing the transport task instruction information of the material to be transported, and calculating and marking the three-dimensional coordinates of the target hoisting position in the three-dimensional space model;
the first path setting module is used for calculating and setting a first path task for conveying the material to be conveyed to the position under the hook according to the three-dimensional coordinates of the hook and the material to be conveyed, and sending the first path task to the unmanned transport vehicle so as to control the transport vehicle to convey the material to be conveyed to the position right under the hook according to the first path task;
the hanging control module is used for calculating the downward moving distance of the hanging hook and controlling the hanging hook to descend by the downward moving distance so as to hang the material to be transported;
the second path setting module is used for calculating and setting a second path task for conveying the material to be conveyed to the target hoisting position, and sending the second path task to the tower crane so as to control the tower crane to convey the material to be conveyed to the three-dimensional coordinate of the target hoisting position according to the second path task.
Overall, the advantages of the present application and the experience brought to the user are:
according to the intelligent control system, the internet of things technology is ingeniously utilized in the tower crane, the material mounting position of the unmanned intelligent tower crane can be accurately controlled, the material is transported to the position below the hook according to the full-automatic unmanned operation of the transportation task, the hook is automatically controlled to hang the material, the material is transported to the target lifting position by the control tower crane, and unmanned and intelligent material transportation of the tower crane is realized.
Drawings
In the drawings, the same reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily drawn to scale. It is appreciated that these drawings depict only some embodiments according to the disclosure and are not therefore to be considered limiting of its scope.
Fig. 1 shows a schematic diagram of the device architecture of the present application.
Fig. 2 shows a flowchart of a method for real-time remote control of an intelligent tower crane path according to an embodiment of the present application.
Fig. 3 shows a configuration diagram of a real-time remote control device for an intelligent tower crane path according to an embodiment of the present application.
FIG. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure;
fig. 5 shows a schematic diagram of a storage medium according to an embodiment of the present application.
Detailed Description
The present application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Fig. 1 shows a schematic diagram of the device architecture of the present application. In the embodiment of the application, the equipment comprises a tower crane, materials to be transported, a hook, a plurality of position sensors, terminal equipment, an unmanned transport vehicle (not shown in the figure, the form is not limited, and an intelligent unmanned transport vehicle is preferred) and the like for placing the materials to be transported. The position sensor A is arranged on the hook, the position sensor B is arranged on the material to be transported, the position sensor C is arranged on the target hoisting position, and the position sensor D is arranged on the tower crane. In practice, there may be multiple hooks, materials to be transported, and target hoisting positions, so that which hook is used to hoist which material to be transported to which target position needs to be controlled by giving a hoisting task instruction from the terminal device.
In the embodiment of the invention, the position sensor is a nano sensor, and the nano sensor is a sensor with a size of nano-level to millimeter-level, so that the nano sensor can only comprise a position feedback function but not comprise other functions in order to make the size of the nano sensor small enough.
In the embodiment of the invention, the terminal equipment can adopt a server with communication capability, and can also be terminal equipment with calculation capability and signal receiving and transmitting capability such as a smart phone, a smart watch and the like.
The nano sensor can be an original electronic chip with the diameter of 1 mm, the electronic chip only has a position feedback function, and after the electronic chip is started, the electronic chip starts to feed back the position information to the terminal equipment. After receiving the position information, the terminal equipment determines the distribution positions of the tower crane, the material to be transported, the hook and the target hoisting position according to the acquired position information.
As another alternative, the nanosensor can be a radioactive element-carrying sensor. The special terminal equipment has a radioactivity detection function, and the position information of the nano sensor is obtained by detecting radioactivity. The radioactive element is a harmless substance with low radioactivity for human body, such as carbon 14 element; carbon 14 has been used to detect helicobacter accelerator infection by breath tests, which have proven, based on professional assessment reports, that carbon 14 breath tests are safe and clinically safe to use with negligible risk of radiation to patients and operators. Therefore, the food containing the carbon 14 element can be used as the nano sensor or the carrier of the nano sensor, and the radioactivity can be detected through the terminal equipment to obtain the position information of the nano sensor.
The material conveying hook is fully automatic and unmanned, the material is conveyed to the position below the material conveying hook, the material is hung by the automatic control hook, the material is conveyed to the target lifting position by the control tower crane, and unmanned and intelligent material conveying of the tower crane are realized.
Fig. 2 shows a flowchart of a method for real-time remote control of an intelligent tower crane path according to an embodiment of the present application. As shown in fig. 2, the real-time remote control method for the intelligent tower crane path comprises the following steps:
step 101: and respectively installing corresponding position sensors at the positions of the tower crane, the hook, the material to be transported and the target hoisting position, receiving signals of the position sensors by the terminal equipment, and establishing a three-dimensional space model of the surrounding environment of the tower crane.
In this embodiment, specifically, step 101 includes:
the method comprises the steps that corresponding position sensors are respectively arranged at the positions of a tower crane, a hook, a material to be transported and a target hoisting position;
each position sensor sends the position of the position sensor to a remote terminal device in real time;
after receiving the signals of the position sensors, the terminal equipment establishes a three-dimensional space model of the surrounding environment of the tower crane by taking the position of the tower crane as a coordinate origin.
In practice, there may be multiple hooks, materials to be transported, and target hoisting positions, so that which hook is used to hoist which material to be transported to which target position needs to be controlled by giving a hoisting task instruction from the terminal device. In the tower crane task, the position of the main body of the tower crane is generally motionless, and the hardware mainly moving is a hook, a material to be transported, a possible target hoisting position and the like, so that the position of a position sensor of the tower crane needs to be selected as the origin of coordinates of a three-dimensional coordinate system to be the most scientific.
Step 102: and marking the positions of the tower crane, the hook and the material to be transported in the three-dimensional space model, and calculating in the three-dimensional space model to obtain three-dimensional coordinates of the tower crane, the hook and the material to be transported.
In this embodiment, for example, the positions of the tower crane, the hook and the material to be transported are first marked in the three-dimensional space model. The marking process can be performed manually, or can be performed automatically in an established three-dimensional space model by computer 3D modeling software according to the positions of the captured tower crane, the hook and the position sensor of the material to be transported in the whole model.
Respectively calculating the distance, angle and direction of the tower crane, the hook and the material to be transported relative to the tower crane by taking the tower crane as an origin;
and calculating to obtain three-dimensional coordinates of the tower crane, the hook and the material to be transported in the three-dimensional space model according to the distance, the angle and the direction of the tower crane, the hook and the material to be transported relative to the tower crane.
For example, by this step, the three-dimensional coordinates of the tower crane are set to (0, 0), and the three-dimensional coordinates of the hook are calculated to be (X1, Y1, Z1) and the three-dimensional coordinates of the material to be transported are calculated to be (X2, Y2, Z2) based on the distances, angles and directions of the tower crane, the hook and the material to be transported relative to the tower crane.
Step 103: and receiving and analyzing the transport task instruction information of the material to be transported, and calculating and marking the three-dimensional coordinates of the target hoisting position in the three-dimensional space model.
In this embodiment, for example, the terminal device receives a request for executing a lifting task from the cloud, for example, from a user, and requests to transport the material to be transported to a container that is not far from the tower crane. Firstly, the terminal equipment analyzes the transport task instruction to obtain the transport task, wherein the transport task is to transport the materials into the container. And then searching a three-dimensional coordinate position corresponding to the container in the three-dimensional space model to serve as a three-dimensional coordinate of a target hoisting position of the material to be transported in the three-dimensional space model. This finding process is similar to the process in step 102.
For example, the location of the container is first marked in the three-dimensional space model. The marking process can be performed manually, or can be performed automatically in an established three-dimensional space model by computer 3D modeling software according to the position signals of the position sensors in the captured container, and the positions in the whole model are marked.
Calculating the distance, angle and direction of the target hoisting position relative to the tower crane by taking the tower crane as an origin;
and calculating to obtain the three-dimensional coordinates of the target hoisting position in the three-dimensional space model according to the distance, the angle and the direction of the target hoisting position relative to the tower crane.
For example, by this step, the three-dimensional coordinates of the container are calculated from the distance, angle and direction of the container relative to the tower crane (X3, Y3, Z3).
Step 104: according to the three-dimensional coordinates of the hooks and the materials to be transported, a first path task for transporting the materials to be transported to the position under the hooks is calculated and set, and the first path task is sent to an unmanned transport vehicle so as to control the transport vehicle to transport the materials to be transported to the position right under the hooks according to the first path task.
In this embodiment, for example, according to the position coordinates (X1, Y1, Z1) of the hook and the initial position (X2, Y2, Z2) of the material to be transported, the three-dimensional coordinates (X1, Y1, Z2) of the material to be transported at the first transport position directly below the hook are calculated, and a straight line path between the initial position (X2, Y2, Z2) of the material to be transported and the first transport position (X1, Y1, Z2) is used as a first path task;
the first path task is sent to an unmanned transport vehicle, the transport vehicle analyzes the first path task to obtain an initial position (X2, Y2, Z2) of a material to be transported as a starting point, and a first transport position (X1, Y1, Z2) is used as an end point of the first path task;
and controlling the transport vehicle to transport the material to be transported from an initial position (X2, Y2, Z2) to the first transport position (X1, Y1, Z2) according to the first path task.
Step 105: calculating the downward moving distance of the hook, and controlling the hook to descend by the downward moving distance so as to hang the material to be transported.
In the embodiment, the same principle is adopted, and firstly, according to the signal of a position sensor, the height difference h=z1-Z2 between the height Z1 of the hook and the first transportation position Z2 is calculated in the three-dimensional space model and is used as the downward movement distance of the hook;
then, the hook is controlled to descend by the downward moving distance and the material to be transported is hung.
Step 106: calculating and setting a second path task for conveying the material to be conveyed to the target hoisting position, and sending the second path task to a tower crane so as to control the tower crane to convey the material to be conveyed to the three-dimensional coordinate of the target hoisting position according to the second path task.
In this embodiment, for example, an arc path between the three-dimensional coordinates (X1, Y1, Z2) of the first transport position and the three-dimensional coordinates (X3, Y3, Z3) of the target hoisting position is taken as a second path task;
the second path task is sent to a tower crane, and the tower crane analyzes the second path task to obtain three-dimensional coordinates (X1, Y1, Z2) of a first transportation position of a material to be transported and three-dimensional coordinates (X3, Y3, Z3) of a target hoisting position;
and controlling the tower crane to convey the material to be conveyed from a first conveying position (X1, Y1, Z2) to a three-dimensional coordinate (X3, Y3, Z3) of the target lifting position according to the second path task.
The intelligent tower crane material transporting device can ingeniously utilize the internet of things technology, accurately controls the material mounting position of the intelligent unmanned tower crane, transports materials to the position below the hook according to full-automatic unmanned operation of a transportation task, automatically controls the hook to hang the materials, controls the tower crane to transport the materials to the target lifting position, and achieves unmanned and intelligent material transporting of the tower crane.
An embodiment of the application provides a real-time remote control device for an intelligent tower crane path, where the device is configured to execute the real-time remote control method for an intelligent tower crane path according to the foregoing embodiment, as shown in fig. 3, and the device includes:
the three-dimensional space modeling module 501 is used for respectively installing corresponding position sensors at the positions of the tower crane, the hook, the material to be transported and the target hoisting position, receiving signals of the position sensors by the terminal equipment, and establishing a three-dimensional space model of the surrounding environment of the tower crane;
the coordinate marking module 502 is configured to mark positions of a tower crane, a hook and a material to be transported in the three-dimensional space model, and calculate three-dimensional coordinates of the tower crane, the hook and the material to be transported in the three-dimensional space model;
the task analysis module 503 is configured to receive and analyze transport task instruction information of a material to be transported, and calculate and mark a three-dimensional coordinate of the target hoisting position in the three-dimensional space model;
the first path setting module 504 is configured to calculate and set a first path task for conveying the material to be conveyed to a position under the hook according to three-dimensional coordinates of the hook and the material to be conveyed, and send the first path task to an unmanned carrier vehicle, so as to control the carrier vehicle to convey the material to be conveyed to a position right under the hook according to the first path task;
the hanging control module 505 is used for calculating the downward moving distance of the hanging hook and controlling the hanging hook to descend by the downward moving distance so as to hang the material to be transported;
the second path setting module 506 is configured to calculate and set a second path task for conveying the material to be conveyed to the target hoisting position, and send the second path task to a tower crane, so as to control the tower crane to convey the material to be conveyed to a three-dimensional coordinate of the target hoisting position according to the second path task.
The real-time remote control device for the intelligent tower crane path provided by the embodiment of the application and the real-time remote control method for the intelligent tower crane path provided by the embodiment of the application have the same beneficial effects as the method adopted, operated or realized by the application program stored by the device for the intelligent tower crane path due to the same inventive concept.
The embodiment of the application also provides electronic equipment corresponding to the real-time remote control method for the intelligent tower crane path provided by the embodiment, so as to execute the real-time remote control method for the intelligent tower crane path. The embodiments of the present application are not limited.
Referring to fig. 4, a schematic diagram of an electronic device according to some embodiments of the present application is shown. As shown in fig. 4, the electronic device 2 includes: a processor 200, a memory 201, a bus 202 and a communication interface 203, the processor 200, the communication interface 203 and the memory 201 being connected by the bus 202; the memory 201 stores a computer program that can be run on the processor 200, and when the processor 200 runs the computer program, the real-time remote control method for the intelligent tower crane path provided in any of the foregoing embodiments of the present application is executed.
The memory 201 may include a high-speed random access memory (RAM: random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one disk memory. The communication connection between the device network element and at least one other network element is achieved through at least one communication interface 203 (which may be wired or wireless), the internet, a wide area network, a local network, a metropolitan area network, etc. may be used.
The processor 200 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in the processor 200 or by instructions in the form of software. The processor 200 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but may also be a Digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in the memory 201, and the processor 200 reads the information in the memory 201, and in combination with its hardware, performs the steps of the above method.
The electronic equipment provided by the embodiment of the application and the real-time remote control method for the intelligent tower crane path provided by the embodiment of the application have the same beneficial effects as the method adopted, operated or realized by the electronic equipment and the method provided by the embodiment of the application because of the same inventive concept.
The present embodiment also provides a computer readable storage medium corresponding to the method for real-time remote control of a path of an intelligent tower crane provided in the foregoing embodiment, referring to fig. 5, the computer readable storage medium is shown as an optical disc 30, on which a computer program (i.e. a program product) is stored, where the computer program, when executed by a processor, performs the method for real-time remote control of a path of an intelligent tower crane provided in any of the foregoing embodiments.
It should be noted that examples of the computer readable storage medium may also include, but are not limited to, a phase change memory (PRAM), a Static Random Access Memory (SRAM), a Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a flash memory, or other optical or magnetic storage medium, which will not be described in detail herein.
The computer readable storage medium provided by the above embodiment of the present application has the same beneficial effects as the method adopted, operated or implemented by the application program stored in the computer readable storage medium for the intelligent tower crane path real-time remote control method provided by the embodiment of the present application, because of the same inventive concept.
It should be noted that:
the algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose devices may also be used with the teachings herein. The required structure for the construction of such devices is apparent from the description above. In addition, the present application is not directed to any particular programming language. It will be appreciated that a variety of programming languages may be used to implement the teachings of the present application as described herein, and the above description of specific languages is provided for disclosure of preferred embodiments of the present application.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the present 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 an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the application, various features of the application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the application and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be construed as reflecting the intention that: i.e., 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 the 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 will appreciate that the modules in the apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. The modules or units or components of the embodiments may be combined into one module or unit or component and, furthermore, they may be divided into a plurality of sub-modules or sub-units or sub-components. Any combination of all features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be used in combination, except insofar as at least some of such features and/or processes or units are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the present application and form different embodiments. For example, in the following claims, any of the claimed embodiments can be used in any combination.
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 will appreciate that some or all of the functions of some or all of the components in the creation means of a virtual machine according to embodiments of the present application may be implemented in practice using a microprocessor or Digital Signal Processor (DSP). The present application may also be embodied as an apparatus or device program (e.g., computer program and computer program product) for performing a portion or all of the methods described herein. Such a program embodying the present application may be stored on a computer readable medium, or may have the form of one or more signals. Such signals may be downloaded from an internet website, provided on a carrier signal, or provided in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think of various changes or substitutions within the technical scope of the present application, and these should be covered in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (4)
1. The real-time remote control method for the intelligent tower crane path is characterized by comprising the following steps of:
corresponding position sensors are respectively installed at the positions of the tower crane, the hook, the material to be transported and the target hoisting position, the terminal equipment receives signals of the position sensors, and a three-dimensional space model of the surrounding environment of the tower crane is built, and the three-dimensional space model comprises the following components: the method comprises the steps that corresponding position sensors are respectively arranged at the positions of a tower crane, a hook, a material to be transported and a target hoisting position; each position sensor sends the position of the position sensor to a remote terminal device in real time; after receiving signals of all the position sensors, the terminal equipment establishes a three-dimensional space model of the surrounding environment of the tower crane by taking the position of the tower crane as a coordinate origin;
marking the positions of a tower crane, a hook and a material to be transported in the three-dimensional space model, and calculating three-dimensional coordinates of the tower crane, the hook and the material to be transported in the three-dimensional space model, wherein the three-dimensional coordinates comprise: marking the positions of the tower crane, the hook and the material to be transported in the three-dimensional space model according to the signals of the position sensor; respectively calculating the distance, angle and direction of the tower crane, the hook and the material to be transported relative to the tower crane by taking the tower crane as an origin; according to the distance, angle and direction of the tower crane, the hook and the material to be transported relative to the tower crane, three-dimensional coordinates of the tower crane, the hook and the material to be transported in the three-dimensional space model are obtained through calculation;
receiving and analyzing transport task instruction information of a material to be transported, calculating and marking three-dimensional coordinates of the target hoisting position in the three-dimensional space model, and comprising the following steps: receiving and analyzing transport task instruction information of a material to be transported to obtain target hoisting position information; marking a target hoisting position in the three-dimensional space model according to signals of the position sensor; calculating the distance, angle and direction of the target hoisting position relative to the tower crane by taking the tower crane as an origin; according to the distance, angle and direction of the target hoisting position relative to the tower crane, calculating to obtain the three-dimensional coordinates of the target hoisting position in the three-dimensional space model;
according to the three-dimensional coordinates of the hook and the material to be transported, a first path task for transporting the material to be transported under the hook is calculated and set, and the first path task is sent to an unmanned transport vehicle so as to control the transport vehicle to transport the material to be transported to the position right under the hook according to the first path task, and the method comprises the following steps: according to the three-dimensional coordinates of the hooks and the materials to be transported, calculating the three-dimensional coordinates of the materials to be transported to a first transport position right below the hooks, and taking a straight line path between the initial position of the materials to be transported and the first transport position as a first path task; the first path task is sent to an unmanned transport vehicle, and the transport vehicle analyzes the first path task to obtain an initial position and a first transport position of a material to be transported; controlling the transport vehicle to transport the material to be transported from an initial position to the first transport position according to the first path task;
calculating the downward moving distance of the hook, controlling the hook to descend by the downward moving distance to hang the material to be transported, and comprising the following steps: calculating the height difference between the height of the hook and the first transportation position in the three-dimensional space model according to the signal of the position sensor, and taking the height difference as the downward movement distance of the hook; controlling the hook to descend by the downward moving distance and hanging the material to be transported;
calculating and setting a second path task for conveying the material to be conveyed to the target hoisting position, and sending the second path task to a tower crane so as to control the tower crane to convey the material to be conveyed to a three-dimensional coordinate of the target hoisting position according to the second path task, wherein the method comprises the following steps of: taking an arc-shaped path between the three-dimensional coordinates of the first transportation position and the three-dimensional coordinates of the target hoisting position as a second path task; the second path task is sent to a tower crane, and the tower crane analyzes the second path task to obtain the three-dimensional coordinates of a first transportation position and the three-dimensional coordinates of a target hoisting position of the material to be transported; and controlling the tower crane to convey the material to be conveyed from the first conveying position to the target lifting position according to the second path task.
2. An internet of things device for real-time remote control of an intelligent tower crane path using the real-time remote control method for an intelligent tower crane path according to claim 1, comprising:
the three-dimensional space modeling module is used for respectively installing corresponding position sensors at the positions of the tower crane, the hook, the material to be transported and the target hoisting position, receiving signals of the position sensors by the terminal equipment, and establishing a three-dimensional space model of the surrounding environment of the tower crane;
the coordinate marking module is used for marking the positions of the tower crane, the hook and the material to be transported in the three-dimensional space model, and calculating three-dimensional coordinates of the tower crane, the hook and the material to be transported in the three-dimensional space model;
the task analysis module is used for receiving and analyzing the transport task instruction information of the material to be transported, and calculating and marking the three-dimensional coordinates of the target hoisting position in the three-dimensional space model;
the first path setting module is used for calculating and setting a first path task for conveying the material to be conveyed to the position under the hook according to the three-dimensional coordinates of the hook and the material to be conveyed, and sending the first path task to the unmanned transport vehicle so as to control the transport vehicle to convey the material to be conveyed to the position right under the hook according to the first path task;
the hanging control module is used for calculating the downward moving distance of the hanging hook and controlling the hanging hook to descend by the downward moving distance so as to hang the material to be transported;
the second path setting module is used for calculating and setting a second path task for conveying the material to be conveyed to the target hoisting position, and sending the second path task to the tower crane so as to control the tower crane to convey the material to be conveyed to the three-dimensional coordinate of the target hoisting position according to the second path task.
3. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor runs the computer program to implement the method of claim 1.
4. A computer readable storage medium having stored thereon a computer program, the program being executed by a processor to implement the method of claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110814975.8A CN113682963B (en) | 2021-07-19 | 2021-07-19 | Internet of things device and method for real-time remote control of intelligent tower crane path |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110814975.8A CN113682963B (en) | 2021-07-19 | 2021-07-19 | Internet of things device and method for real-time remote control of intelligent tower crane path |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113682963A CN113682963A (en) | 2021-11-23 |
| CN113682963B true CN113682963B (en) | 2023-06-02 |
Family
ID=78577414
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110814975.8A Active CN113682963B (en) | 2021-07-19 | 2021-07-19 | Internet of things device and method for real-time remote control of intelligent tower crane path |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113682963B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102016004249A1 (en) * | 2016-04-08 | 2017-10-12 | Liebherr-Components Biberach Gmbh | crane |
| JP2019112178A (en) * | 2017-12-22 | 2019-07-11 | 戸田建設株式会社 | Automatic operation system for tower crane |
| CN110182696A (en) * | 2019-06-14 | 2019-08-30 | 广东博意建筑设计院有限公司 | A kind of control method of unmanned tower crane and the intelligence system of unmanned tower crane |
| CN111392599A (en) * | 2020-03-05 | 2020-07-10 | 和芯星通科技(北京)有限公司 | Automatic tower crane control method |
| CN112249902A (en) * | 2019-07-21 | 2021-01-22 | 长沙智能驾驶研究院有限公司 | Tower crane control method, device and system for smart construction site and tower crane virtual control cabin |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2954671C (en) * | 2014-07-10 | 2022-08-16 | Breeze-Eastern Llc | Helicopter hoist systems, devices, and methodologies |
-
2021
- 2021-07-19 CN CN202110814975.8A patent/CN113682963B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102016004249A1 (en) * | 2016-04-08 | 2017-10-12 | Liebherr-Components Biberach Gmbh | crane |
| JP2019112178A (en) * | 2017-12-22 | 2019-07-11 | 戸田建設株式会社 | Automatic operation system for tower crane |
| CN110182696A (en) * | 2019-06-14 | 2019-08-30 | 广东博意建筑设计院有限公司 | A kind of control method of unmanned tower crane and the intelligence system of unmanned tower crane |
| CN112249902A (en) * | 2019-07-21 | 2021-01-22 | 长沙智能驾驶研究院有限公司 | Tower crane control method, device and system for smart construction site and tower crane virtual control cabin |
| CN111392599A (en) * | 2020-03-05 | 2020-07-10 | 和芯星通科技(北京)有限公司 | Automatic tower crane control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113682963A (en) | 2021-11-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10596704B1 (en) | Generate, simulate, and execute a reusable robotics solution recipe to execute a robotic solution | |
| CN113734981B (en) | Method and device for setting material transportation path of intelligent tower crane | |
| US20170270805A1 (en) | Systems and methods for autonomous drone navigation | |
| CN108007453A (en) | Map updating method, device and electronic equipment based on a cloud | |
| CN106453551A (en) | Task planning and executing device and method for goods delivery robot in office | |
| JP2020532798A (en) | How to assign processing plan images to mobile unit datasets of mobile units in indoor locating systems | |
| US12339669B2 (en) | Transport system, control apparatus, transport method, and program | |
| EP4024152A1 (en) | Transport system, control device, transport method, and program | |
| CN113911922A (en) | Intelligent tower crane rotation overall process condition monitoring and sensing method and system | |
| CN113255161B (en) | Simulation method, device, medium and equipment for intermodal yard equipment | |
| KR20200010506A (en) | Method and apparatus for determining the location of a static object | |
| CN113111144A (en) | Room marking method and device and robot movement method | |
| CN113911918B (en) | Fault emergency dispatch control method and system for intelligent tower crane cluster | |
| JP2023022867A (en) | Safety control device, system, method and program | |
| CN114359379B (en) | A pallet inspection method, apparatus and electronic equipment | |
| CN113682963B (en) | Internet of things device and method for real-time remote control of intelligent tower crane path | |
| CN113673344B (en) | Intelligent tower crane material mounting position identification method and device | |
| WO2023217047A1 (en) | Positioning method and apparatus, and electronic device and readable storage medium | |
| JP2010191562A (en) | Work information processor, program, and work information processing method | |
| CN113896109B (en) | Camera shooting monitoring method and system for intelligent tower crane background remote control | |
| CN113255859B (en) | Intelligent tower crane hook identification switching method and device based on electronic tag | |
| CN110274600B (en) | Method, device and system for acquiring GPS information of robot | |
| Usui | Estimation of log-gripping position using instance segmentation for autonomous log loading | |
| CN113093751B (en) | A position control method, device and storage medium for elevators such as robots | |
| CN115028075B (en) | Crane operation method, device, crane and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |