CN115571789A - Tower crane control method and device, tower crane edge controller and storage medium - Google Patents
Tower crane control method and device, tower crane edge controller and storage medium Download PDFInfo
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- CN115571789A CN115571789A CN202211195544.9A CN202211195544A CN115571789A CN 115571789 A CN115571789 A CN 115571789A CN 202211195544 A CN202211195544 A CN 202211195544A CN 115571789 A CN115571789 A CN 115571789A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
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Abstract
The embodiment of the invention discloses a tower crane control method, a tower crane control device, a tower crane edge controller and a storage medium, wherein the tower crane edge controller and the storage medium comprise the following steps: receiving a hoisting requirement sent by a dispatching platform and an initial position sent by an associated target tower crane; determining a planned path according to the hoisting requirement and the initial position, and controlling the target tower crane to operate according to the planned path to a hoisting target point; acquiring the operation position of the target tower crane in real time, and adjusting the actual operation path of the target tower crane based on the operation position and the planned path; and when the target tower crane is determined to reach the hoisting target point, sending an authority transfer instruction to the terminal equipment. Under the condition that special scenes are not needed and strict requirements on user skills are not needed, the control over the target tower crane can be automatically realized, the operation efficiency of the tower crane is improved after the hoisting task is completed, a cockpit on the tower crane is omitted, the purpose of achieving safe operation of the tower crane through path planning can be realized only by an edge controller on the tower crane, and compared with a remote driving cabin, the panoramic vision of the tower crane is not needed to be obtained.
Description
Technical Field
The embodiment of the invention relates to the technical field of intelligent control, in particular to a tower crane control method and device, a tower crane edge controller and a storage medium.
Background
The tower crane is an important hoisting tool in the field of buildings, and a driver (for short, a tower crane cab) positioned in a tower crane cockpit controls the tower crane to finish the hoisting work of a house or a bridge, so that not only is a strict requirement on the driving operation skill of the tower crane cab met, but also the working efficiency is generally lower. Partial manufacturers in the industry have realized remote operation aiming at the problems, so that a cab console at the top end of a tower crane is transplanted to a far end through a communication means, and the remote operation can be realized in a remote cab or handheld console mode.
However, a remote cab mode requires a working land, a construction site generally cannot provide a special working land for operating the tower crane, the height perception of the tower crane cannot be realized only through videos, real experience cannot be achieved on the ground, and the practicability is low; to the mode of handheld platform of controlling, the tower department needs to raise one's head and look up, and follows the lifting hook and run, requires higher to the tower department, not only needs experience abundantly, still need master ground environment in advance, therefore the working method of tower crane is not fundamentally changed to current remote operation mode.
Disclosure of Invention
The embodiment of the invention provides a tower crane control method and device, a tower crane edge controller and a storage medium, so as to realize intelligent control of a tower crane.
In a first aspect, an embodiment of the present invention provides a tower crane control method, applied to a tower crane edge controller, including: receiving hoisting requirements sent by a dispatching platform and an initial position sent by a target tower crane associated with the dispatching platform, wherein the hoisting requirements are sent to the dispatching platform by terminal equipment and comprise at least one hoisting target point;
determining a planned path according to the hoisting requirement and the initial position, and controlling the target tower crane to operate to the hoisting target point according to the planned path;
acquiring the operation position of the target tower crane in real time, and adjusting the actual operation path of the target tower crane based on the operation position and the planned path;
and when the target tower crane is determined to reach the hoisting target point, sending an authority transfer instruction to the terminal equipment so that the terminal equipment obtains a control right for the target tower crane according to the authority transfer instruction, and sending a hoisting instruction to the target tower crane based on the control right so as to control the target tower crane to execute hoisting work according to the hoisting instruction.
In a second aspect, an embodiment of the present invention provides a tower crane control apparatus, including: the system comprises a hoisting demand and initial position receiving module, a dispatching platform and a target tower crane, wherein the hoisting demand and initial position receiving module is used for receiving a hoisting demand sent by the dispatching platform and an initial position sent by a related target tower crane, the hoisting demand is sent to the dispatching platform by terminal equipment and comprises at least one hoisting target point;
the planned path determining module is used for determining a planned path according to the hoisting requirement and the initial position and controlling the target tower crane to operate to the hoisting target point according to the planned path;
the path adjusting module is used for acquiring the operation position of the target tower crane in real time and adjusting the actual operation path of the target tower crane based on the operation position and the planned path;
and the hoisting control module is used for sending an authority transfer instruction to the terminal equipment when the target tower crane is determined to reach the hoisting target point, so that the terminal equipment acquires the control right for the target tower crane according to the authority transfer instruction, and sends a hoisting instruction to the target tower crane based on the control right so as to control the target tower crane to execute hoisting work according to the hoisting instruction.
In a third aspect, an embodiment of the present invention provides a tower crane edge controller, where the tower crane edge controller includes: at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the method as described above.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where computer instructions are stored, and when the computer instructions are executed, a processor is configured to implement the method described above.
According to the technical scheme of the embodiment of the invention, under the conditions of no need of special scenes and strict requirements on user skills, the control on the target tower crane can be automatically realized, the hoisting task is completed, the operation efficiency of the tower crane is greatly improved, a cockpit on the tower crane is eliminated, the purpose of safe operation of the tower crane can be achieved by only using an edge controller on the tower crane through path planning, and compared with a remote cockpit, the panoramic vision of the tower crane is not required to be obtained.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
FIG. 1 is a flow chart of a tower crane control method according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of an application architecture of an edge controller according to an embodiment of the present invention;
FIG. 3 is a flowchart of a tower crane control method provided by a second embodiment of the invention;
fig. 4 is a schematic view of an application scenario of the tower crane control method provided by the second embodiment of the invention;
FIG. 5 is a flow chart of a tower crane control method provided by a third embodiment of the invention;
fig. 6 is a schematic view of an application scenario of the tower crane control method provided by the third embodiment of the invention;
FIG. 7 is a schematic structural diagram of a tower crane control device provided by the fourth embodiment of the invention;
fig. 8 is a schematic structural diagram of a tower crane edge controller provided by the fifth embodiment of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
Fig. 1 is a flowchart of a tower crane control method provided in an embodiment of the present invention, where the present embodiment is applied to a tower crane control device, and is applicable to a situation where a tower crane is intelligently controlled, as shown in fig. 1, the method specifically includes the following steps:
and S101, receiving a hoisting requirement sent by a scheduling platform and an initial position sent by the associated target tower crane.
Optionally, receiving the hoisting requirement sent by the scheduling platform and the initial position sent by the associated target tower crane includes: receiving hoisting requirements sent by a dispatching platform in a wireless communication mode, wherein the wireless communication mode comprises software-defined radio SDR communication, 4G communication or 5G communication; and receiving the initial position of the associated target tower crane sent by the motor encoder.
As shown in fig. 2, which is an application architecture diagram of the edge controller, the edge controller may receive a hoisting requirement sent by the scheduling platform in a wireless communication manner, and the wireless communication manner may specifically adopt remote IO for information transmission. The hoisting requirement is sent to the dispatching platform by the terminal equipment and comprises at least one hoisting target point. For example, the hoisting requirement may include a hoisting start point and a hoisting end point, or the hoisting requirement includes the hoisting start point, or the hoisting requirement includes the hoisting end point, and the specific number of the hoisting target points included in the hoisting requirement is not limited in this embodiment. In addition, the scheduling platform in this embodiment may receive hoisting requirements sent by different terminal devices, so the obtained hoisting start point and hoisting end point of the edge controller may be from different terminal devices, and certainly the obtained hoisting start point and hoisting end point of the edge controller may also be from the same terminal device.
Wherein, because the motor encoder in the tower crane can monitor the target tower crane, and still include perception equipment in tower crane intelligence control system, perception equipment is connected with tower crane edge controller to specifically receive the initial position that the target tower crane that is correlated with passes through motor encoder through perception equipment, and specifically contain sensor, vision device and radar installation in the perception equipment. For example, the types of sensors in the present embodiment may specifically include: weight sensors, tilt sensors, altitude sensors, wind speed sensors, computer Vision (CV) recognition sensors, wind direction sensors, and anti-collision sensors, among others. Of course, this embodiment is merely an example, and the specific type of the sensor is not particularly limited.
And S102, determining a planned path according to the hoisting requirement and the initial position, and controlling the target tower crane to operate to hoist the target point according to the planned path.
Optionally, determining a planned path according to the hoisting requirement and the initial position, and controlling the target tower crane to operate to the hoisting target point according to the planned path, including: determining a planned path according to the hoisting requirement and the initial position; determining a first control instruction for a frequency converter matched with a first motor, a second control instruction for a frequency converter matched with a second motor and a third control instruction for a frequency converter matched with a third motor according to the planned path, and sending the control instructions to the matched frequency converters so that the frequency converters control a motor-driven target tower crane of the target tower crane to operate to hoist a target point according to the planned path according to the matched control instructions; the first motor drives the target tower crane to move vertically, the second motor drives the target tower crane to move back and forth, and the third motor drives the target tower crane to rotate.
Optionally, sending the control instruction to the matched frequency converter includes: sending the first control instruction to a frequency converter matched with the first motor through a first control channel; sending a second control instruction to a frequency converter matched with a second motor through a second control channel; and sending the third control command to a frequency converter matched with the third motor through a third control channel. The target tower crane of the embodiment comprises three motors, namely a first motor for controlling vertical motion, a second motor for controlling front and back amplitude motion and a third motor for controlling rotary motion. And each motor is respectively connected with a matched frequency converter, and different rotating speeds of the motors are controlled through different frequencies output by the frequency converters. Therefore, when it is determined that the hoisting requirement includes a hoisting starting point and a hoisting end point, an optimal planned path is determined according to a preset path planning algorithm, for example, a genetic algorithm or an ant colony algorithm, a control instruction for each frequency converter is determined according to the planned path and a preset execution time, the control instructions are sent to the frequency converters by adopting different control channels respectively, and the control instructions obtained by each frequency converter specifically include a direction control instruction and a speed control instruction. After each frequency converter obtains the control instruction, an initial frequency parameter is determined according to information such as speed or acceleration required in the control instruction, the initial frequency parameter is sent to the matched motors, and each motor determines a corresponding rotating speed according to the obtained initial frequency parameter and rotates to drive the target tower crane to move according to the planned path.
And S103, acquiring the running position of the target tower crane in real time, and adjusting the actual running path of the target tower crane based on the running position and the planned path.
Optionally, the operation position of the target tower crane is obtained in real time, and the actual operation path of the target tower crane is adjusted based on the operation position and the planned path, including: acquiring the running position of the target tower crane sent by a motor encoder in real time; comparing the operation position with the planned path to obtain operation deviation, and obtaining an adjustment instruction according to the operation deviation; and sending the adjusting instruction to a frequency converter of the target tower crane so that the frequency converter generates an adjusting frequency parameter according to the adjusting instruction, and driving a motor of the target tower crane to adjust and operate based on the adjusting frequency parameter.
Specifically, in the embodiment, in the process that the target tower crane runs to the hoisting target point according to the planned path, the tower crane edge controller can also obtain the running position of the target tower crane in real time, and the running position is compared with the planned path to adjust the actual running path, so that the target tower crane runs accurately according to the planned path, and the hoisting target point is reached safely. The motor encoder in this embodiment can carry out real-time supervision to the running state of motor, consequently can acquire the operating position of hoist and mount target point at the in-process that target tower crane moved to hoist and mount target point, still can acquire speed information simultaneously to and motor information, for example the information such as the rotational speed of the motor that matches, and send the monitoring information who acquires for tower crane edge controller, consequently tower crane edge controller can acquire monitoring information such as the operating position that target tower crane sent through the motor encoder in real time.
In one specific implementation, after the tower crane edge controller acquires the operation position, the operation position is compared with a previously acquired planned path to acquire an operation deviation, and an adjustment instruction for each frequency converter is determined according to the operation deviation, for example, when it is determined that the horizontal operation position of the target tower crane does not deviate from a corresponding track point of the planned path, and only the operation deviation that the vertical operation position is higher than the corresponding track point of the planned path by 1 cm is detected, an adjustment instruction for the frequency converter matched with the first motor for controlling the vertical operation is generated according to the operation deviation, and no adjustment instruction needs to be generated for other frequency converters. The adjusting instruction can specifically be to keep the acceleration of 0.1m/s running downwards. It is to be understood that this embodiment is merely an example, and the specific contents of the adjustment command are not limited thereto.
When the tower crane edge controller determines that the vertical operation position needs to be adjusted, the generated adjustment instruction is sent to a frequency converter matched with a first motor through a first control channel, after the frequency converter matched with the first motor obtains the adjustment instruction, the frequency converter matched with the first motor generates an adjustment frequency parameter corresponding to the required acceleration according to the adjustment instruction, the adjustment frequency parameter is sent to the first motor, the first motor determines the rotating speed according to the obtained adjustment frequency parameter and adjusts the rotating speed so as to drive the target tower crane to adjust the actual operation path. Of course, this embodiment is only described by taking the adjustment of the vertical operation of the target tower crane through the adjustment of the rotation speed of the first motor as an example, and the actual operation trajectory of the target tower crane is substantially the same as this in the manner of adjusting the actual operation trajectory of the target tower crane through the adjustment of the rotation speeds of other motors, which is not described in detail again in this embodiment.
And S104, when the target tower crane is determined to reach the hoisting target point, sending an authority transfer instruction to the terminal equipment so that the terminal equipment can obtain the control authority for the target tower crane according to the authority transfer instruction, and sending a hoisting instruction to the target tower crane based on the control authority so as to control the target tower crane to execute hoisting work according to the hoisting instruction.
Optionally, when it is determined that the target tower crane reaches the hoisting target point, an authority transfer instruction is sent to the terminal device, including: and when the distance between the target tower crane and the hoisting target point is determined to be smaller than the preset distance, sending an authority to the terminal equipment to issue a transfer instruction.
Optionally, the method further comprises: when the distance between the target tower crane and the hoisting target point is determined to exceed the preset distance, sending an authority withdrawing and transferring instruction to the terminal equipment; and judging whether the target tower crane runs the planned path, if so, sending a hoisting requirement completion notice to the scheduling platform, and otherwise, controlling the target tower crane to continue running according to the rest planned path.
Specifically, in this embodiment, when it is determined that the target tower crane is located at the specified height of the hoisting target point, an authority transfer instruction is sent to the terminal device, where the authority transfer instruction includes issuing a control authority for the target tower crane or retrieving the control authority for the target tower crane. For example, when the distance between the target tower crane and the hoisting target point is determined to be less than 1 meter, the authority is sent to the terminal equipment to issue a transfer instruction. And the terminal equipment issues a transfer instruction according to the authority to acquire the control right aiming at the target tower crane, opens a communication interface with the target tower crane based on the control right, and controls the hooking and unhooking processes of the target tower crane through the communication interface. In addition, when the distance between the target tower crane and the hoisting target point is determined to exceed 1 meter, the tower crane edge controller sends an authority withdrawing transfer instruction to the terminal equipment so as to withdraw the control right of the terminal equipment to the target tower crane.
It should be noted that, if the hoisting requirement includes a plurality of hoisting target points, the planned path is generally formed by a plurality of segments of sub-planned paths, and therefore, after the control right of the terminal device on the target tower crane is determined to be withdrawn, it is determined whether the target tower crane has run through all the planned paths, a hoisting requirement completion notification is sent to the scheduling platform when the execution is determined to be completed, and the target tower crane continues to run when the execution is not completed, so that the automatic control of the running process of the target tower crane is realized.
The embodiment of the application can automatically realize the control of the target tower crane under the condition of not needing special scenes and strict requirements for user skills, and finish hoisting tasks, thereby greatly improving the operating efficiency of the tower crane, canceling a cockpit on the tower crane, realizing the purpose of realizing path planning and achieving the operation safety of the tower crane only by an edge controller on the tower crane, and compared with a remote driving cabin, the panoramic vision of the tower crane does not need to be acquired. And in the process of the operation of the target tower crane, the actual operation path of the target tower crane is adjusted based on the operation position and the planned path of the target tower crane so as to further ensure the operation safety.
Example two
Fig. 3 is a flowchart of a tower crane control method provided in an embodiment of the present invention, and this embodiment specifically describes, based on the above embodiment, determining a planned path according to a hoisting requirement and an initial position, and controlling a target tower crane to hoist a target point according to the planned path, where as shown in fig. 3, the method specifically includes the following steps:
step S201, a first planned path from the initial position to the hoisting start point and a second planned path from the hoisting start point to the hoisting end point are determined according to the hoisting start point and the initial position.
Fig. 4 is a schematic view of an application scenario of the embodiment, where a hoisting start point and a hoisting end point are sent by a terminal device a to a tower crane edge controller through a scheduling platform, and therefore when a hoisting requirement includes the hoisting start point and the hoisting end point at the same time, during path planning, the tower crane edge controller specifically determines a first planned path from an initial position to the hoisting start point and a second planned path from the hoisting start point to the hoisting end point according to the hoisting start point and the initial position, that is, determines an optimal path passing through all hoisting target points at the same time according to the obtained hoisting requirement and the initial position of the target tower crane.
Step S202, a first type of control instruction is determined according to the first planned path and the second planned path.
And determining a first type of control command according to the determined complete optimal route, wherein the first type of control command comprises a first control command aiming at a frequency converter matched with the first motor, a second control command aiming at a frequency converter matched with the second electrode and a third control command aiming at a frequency converter matched with the third motor when the first type of control command is operated along the optimal route.
And S203, sending the first type of control instruction to a frequency converter of the target tower crane, so that the frequency converter controls a motor of the target tower crane to drive the target tower crane to operate according to the first planned path and the second planned path to a hoisting terminal according to the first type of control instruction.
The first type of control instruction is sent to a frequency converter of the target tower crane, so that the frequency converter controls a motor of the target tower crane to drive the target tower crane according to the first type of control instruction, and the target tower crane is operated to a hoisting target point according to an optimal route formed by the first planned route and the second planned route. The specific manner of sending the first control instruction, the second control instruction, and the third control instruction included in the first type of control instruction to the frequency converter of the target tower crane has been described in the above embodiments, and details are not repeated in this embodiment.
Implementation III
As shown in fig. 5, a flowchart of a tower crane control method provided in this embodiment is provided, and based on the above embodiment, this embodiment specifically describes determining a planned path according to a hoisting requirement and an initial position, and controlling a target tower crane to hoist a target point according to the planned path, and as shown in fig. 5, the method specifically includes the following steps:
step S301, a first planned path from the initial position to the hoisting starting point is determined according to the hoisting starting point and the initial position.
Fig. 6 is a schematic view of an application scenario of the present embodiment, where a hoisting start point is sent by the terminal device a to the tower crane edge controller through the scheduling platform, and a hoisting end point is sent by the terminal device B to the tower crane edge controller through the scheduling platform. Therefore, the hoisting starting point and the hoisting end point in the embodiment are sent by different terminal devices, and specifically, the hoisting requirement sent by the terminal device a can be obtained first, and when path planning is performed, the tower crane edge controller specifically determines a first planned path from the initial position to the hoisting starting point according to the hoisting starting point and the initial position.
Step S302, a second type of control instruction is determined according to the first planned path.
And determining a second type of control command according to the determined first planned path, wherein the second type of control command also comprises a control command of the frequency converter matched with each motor. The specific determination method is substantially the same as that in the above embodiment, and details are not repeated in this embodiment.
And step S303, sending the second type of control instruction to a frequency converter of the target tower crane, so that the frequency converter controls a motor of the target tower crane to drive the target tower crane to operate to the hoisting starting point according to the first planned path according to the second type of control instruction.
And the second type of control instruction is sent to the frequency converter of the target tower crane, so that the frequency converter controls the motor of the target tower crane to drive the target tower crane according to the second type of control instruction, and the motor drives the starting point to operate according to the first planning path.
And step S304, receiving the updated hoisting requirement sent by the dispatching platform.
Specifically speaking, after the tower crane edge controller sends the second type of control instruction to the frequency converter of the target tower crane, the terminal device B at the hoisting end point can send an updated hoisting requirement containing the hoisting end point to the dispatching platform and send the updated hoisting requirement to the tower crane edge controller, and the corresponding tower crane edge controller can receive the updated hoisting requirement sent by the dispatching platform again through the wireless communication mode of remote IO.
And S305, determining a second planned path from the hoisting starting point to the hoisting end point according to the hoisting end point and the hoisting starting point.
When the tower crane edge controller receives the updated hoisting requirement, path planning can be carried out again according to the hoisting end point contained in the updated hoisting requirement, and a second planned path from the hoisting start point to the hoisting end point is specifically determined.
And S306, when the distance between the target tower crane and the hoisting starting point is determined to exceed the preset distance, determining a third type of control instruction according to the second planned path.
When the distance between the target tower crane and the hoisting starting point is determined to exceed the preset distance, it is indicated that a worker located at the hoisting starting point transfers building materials to the hook, the target tower crane is hooked according to the instruction of the terminal device A located at the starting point, at the moment, the tower crane edge controller can determine a third type of control instruction according to the second planned path determined previously, and the third type of control instruction also comprises control instructions of the frequency converter matched with each motor. The specific determination method is substantially the same as that in the above embodiment, and details are not repeated in this embodiment.
And S307, sending the third type of control instruction to a frequency converter of the target tower crane, so that the frequency converter controls a motor of the target tower crane to drive the target tower crane to operate according to the second planned path and the hoisting terminal point according to the third type of control instruction.
And the third type of control instruction is sent to the frequency converter of the target tower crane, so that the frequency converter controls a motor of the target tower crane to drive the target tower crane according to the third type of control instruction, and the hoisting terminal is operated according to the second planning path.
Example four
Fig. 7 is a schematic structural diagram of a tower crane control device provided by an embodiment of the invention. As shown in fig. 7, the apparatus includes: a hoisting requirement and initial position receiving module 310, a planned path determining module 320, a path adjusting module 330 and a hoisting control module 340.
The hoisting requirement and initial position receiving module 310 is configured to receive a hoisting requirement sent by a scheduling platform and an initial position sent by a related target tower crane, where the hoisting requirement is sent to the scheduling platform by a terminal device and includes at least one hoisting target point;
the planned path determining module 320 is used for determining a planned path according to the hoisting requirement and the initial position, and controlling the target tower crane to operate according to the planned path to the hoisting target point;
the path adjusting module 330 is configured to obtain an operation position of the target tower crane in real time, and adjust an actual operation path of the target tower crane based on the operation position and the planned path;
and the hoisting control module 340 is configured to send an authority transfer instruction to the terminal device when it is determined that the target tower crane reaches the hoisting target point, so that the terminal device obtains a control authority for the target tower crane according to the authority transfer instruction, and send a hoisting instruction to the target tower crane based on the control authority, so as to control the target tower crane to perform hoisting work according to the hoisting instruction.
Optionally, the path adjusting module is configured to obtain an operation position of the target tower crane sent by the motor encoder in real time;
comparing the operation position with the planned path to obtain operation deviation, and obtaining an adjustment instruction according to the operation deviation;
and sending the adjustment instruction to a frequency converter of the target tower crane so that the frequency converter generates an adjustment frequency parameter according to the adjustment instruction, and driving a motor of the target tower crane to perform adjustment operation based on the adjustment frequency parameter.
Optionally, the hoisting requirement and initial position receiving module is configured to receive a hoisting requirement sent by the scheduling platform in a wireless communication manner, where the wireless communication manner includes software-defined radio SDR communication, 4G communication, or 5G communication;
and receiving the initial position of the associated target tower crane sent by the motor encoder.
Optionally, the planned path determining module is configured to determine a planned path according to the hoisting requirement and the initial position; determining a first control instruction for the frequency converter matched with the first motor, a second control instruction for the frequency converter matched with the second motor and a third control instruction for the frequency converter matched with the third motor according to the planned path,
sending the control instruction to the matched frequency converter so that the frequency converter controls a motor of the target tower crane to drive the target tower crane to hoist the target point to operate according to the planned path according to the matched control instruction;
the first motor drives the target tower crane to move vertically, the second motor drives the target tower crane to move back and forth, and the third motor drives the target tower crane to rotate.
Optionally, the planned path determining module is further configured to send the first control instruction to the frequency converter matched with the first motor through the first control channel;
sending a second control instruction to a frequency converter matched with a second motor through a second control channel;
and sending a third control command to a frequency converter matched with the third motor through a third control channel.
Optionally, the hoisting target point includes a hoisting start point and a hoisting end point, the hoisting requirement is sent to the dispatching platform by the terminal device located at the hoisting start point,
the planning path determining module is also used for determining a first planning path from the initial position to the hoisting starting point and a second planning path from the hoisting starting point to the hoisting terminal point according to the hoisting starting point and the initial position;
determining a first type of control instruction according to the first planned path and the second planned path;
and sending the first type of control instruction to a frequency converter of the target tower crane, so that the frequency converter controls a motor of the target tower crane to drive the target tower crane to operate according to the first planned path and the second planned path to a hoisting terminal point according to the first type of control instruction.
Optionally, the hoisting target point includes a hoisting start point, the hoisting requirement is sent to the dispatching platform by the terminal device located at the hoisting start point,
the planning path determining module is further used for determining a first planning path from the initial position to the hoisting starting point according to the hoisting starting point and the initial position;
determining a second type of control instruction according to the first planned path;
and sending the second type of control instruction to a frequency converter of the target tower crane, so that the frequency converter controls a motor of the target tower crane to drive the target tower crane to operate according to the first planning path to the hoisting starting point according to the second type of control instruction.
Optionally, the planned path determining module is further configured to receive an updated hoisting requirement sent by the scheduling platform, where the updated hoisting requirement is sent to the scheduling platform by a terminal device located at a hoisting end point and includes the hoisting end point;
determining a second planned path from the hoisting starting point to the hoisting end point according to the updated hoisting requirement and the hoisting starting point;
when the distance between the target tower crane and the hoisting starting point is determined to exceed the preset distance, determining a third type of control instruction according to the second planned path;
and sending the third type of control instruction to a frequency converter of the target tower crane, so that the frequency converter controls a motor of the target tower crane to drive the target tower crane to operate according to a second planned path and the hoisting end point according to the third type of control instruction.
Optionally, the hoisting control module is configured to send an authority issuing transfer instruction to the terminal device when it is determined that the distance between the target tower crane and the hoisting target point is smaller than the preset distance.
Optionally, the hoisting control module is further configured to send an authority withdrawal and transfer instruction to the terminal device when it is determined that the distance between the target tower crane and the hoisting target point exceeds a preset distance;
and judging whether the target tower crane runs the planned path, if so, sending a hoisting requirement completion notice to the scheduling platform, and otherwise, controlling the target tower crane to continue running according to the rest planned path.
The tower crane control device provided by the embodiment of the invention can execute the tower crane control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
EXAMPLE five
FIG. 8 illustrates a block diagram of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein. As shown in fig. 8, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 may also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
In some embodiments, the tower crane control method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the tower crane control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the tower crane control method by any other suitable means (e.g., by way of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user may provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (13)
1. A tower crane control method is characterized by being applied to a tower crane edge controller and comprising the following steps:
receiving hoisting requirements sent by a dispatching platform and an initial position sent by a target tower crane associated with the dispatching platform, wherein the hoisting requirements are sent to the dispatching platform by terminal equipment and comprise at least one hoisting target point;
determining a planned path according to the hoisting requirement and the initial position, and controlling the target tower crane to operate to the hoisting target point according to the planned path;
acquiring the operation position of the target tower crane in real time, and adjusting the actual operation path of the target tower crane based on the operation position and the planned path;
and when the target tower crane is determined to reach the hoisting target point, sending an authority transfer instruction to the terminal equipment so that the terminal equipment obtains a control right for the target tower crane according to the authority transfer instruction, and sending a hoisting instruction to the target tower crane based on the control right so as to control the target tower crane to execute hoisting work according to the hoisting instruction.
2. The method according to claim 1, wherein the obtaining of the operation position of the target tower crane in real time and the adjusting of the actual operation path of the target tower crane based on the operation position and the planned path comprise:
acquiring the running position of the target tower crane sent by a motor encoder in real time;
comparing the operation position with the planned path to obtain an operation deviation, and obtaining an adjustment instruction according to the operation deviation;
and sending the adjusting instruction to a frequency converter of the target tower crane so that the frequency converter generates an adjusting frequency parameter according to the adjusting instruction, and driving a motor of the target tower crane to adjust and operate based on the adjusting frequency parameter.
3. The method according to claim 1 or 2, wherein the receiving of the hoisting requirement sent by the scheduling platform and the initial position sent by the associated target tower crane comprises:
receiving a hoisting requirement sent by a dispatching platform in a wireless communication mode, wherein the wireless communication mode comprises software defined radio SDR communication, 4G communication or 5G communication;
and receiving the initial position of the associated target tower crane sent by the motor encoder.
4. The method according to claim 1 or 2, wherein the determining a planned path according to the hoisting requirement and the initial position, and controlling the target tower crane to operate to the hoisting target point according to the planned path comprises:
determining a planned path according to the hoisting requirement and the initial position;
determining a first control instruction aiming at the frequency converter matched with the first motor, a second control instruction aiming at the frequency converter matched with the second motor and a third control instruction aiming at the frequency converter matched with the third motor according to the planned path,
sending the control instruction to the matched frequency converter so that the frequency converter controls a motor of the target tower crane to drive the target tower crane to operate to the hoisting target point according to the planned path according to the matched control instruction;
the first motor drives the target tower crane to move vertically, the second motor drives the target tower crane to move back and forth, and the third motor drives the target tower crane to rotate.
5. The method of claim 4, wherein sending the control command to the matched frequency converter comprises:
sending the first control instruction to a frequency converter matched with the first motor through a first control channel;
sending the second control instruction to a frequency converter matched with the second motor through a second control channel;
and sending the third control command to a frequency converter matched with the third motor through a third control channel.
6. The method of claim 4, wherein the hoisting target point comprises a hoisting start point and a hoisting end point, the hoisting requirement is sent to the dispatching platform by a terminal device located at the hoisting start point,
determining a planned path according to the hoisting requirement and the initial position, and controlling the target tower crane to operate to the hoisting target point according to the planned path, wherein the method comprises the following steps:
determining a first planned path from the initial position to the hoisting starting point and a second planned path from the hoisting starting point to the hoisting terminal point according to the hoisting starting point and the initial position;
determining a first type of control instruction according to the first planned path and the second planned path;
and sending the first type of control instruction to a frequency converter of the target tower crane, so that the frequency converter controls a motor of the target tower crane to drive the target tower crane to operate according to the first planned path and the second planned path to the hoisting terminal according to the first type of control instruction.
7. The method of claim 4, wherein the hoist target point comprises a hoist start point, the hoist request is sent to the dispatch platform by a terminal device located at the hoist start point,
determining a planned path according to the hoisting requirement and the initial position, and controlling the target tower crane to operate to the hoisting target point according to the planned path, wherein the method comprises the following steps:
determining a first planned path from the initial position to the hoisting starting point according to the hoisting starting point and the initial position;
determining a second type of control instruction according to the first planned path;
and sending the second type of control instruction to a frequency converter of the target tower crane, so that the frequency converter controls a motor of the target tower crane to drive the target tower crane to operate to the hoisting starting point according to the first planned path according to the second type of control instruction.
8. The method of claim 7, wherein after sending the second control command to a frequency converter of the target tower crane, further comprising:
receiving an updated hoisting requirement sent by the dispatching platform, wherein the updated hoisting requirement is sent to the dispatching platform by terminal equipment located at a hoisting terminal and comprises the hoisting terminal;
determining a second planned path from the hoisting starting point to the hoisting end point according to the updated hoisting requirement and the hoisting starting point;
when the distance between the target tower crane and the hoisting starting point is determined to exceed the preset distance, determining a third type of control instruction according to the second planned path;
and sending the third type of control instruction to a frequency converter of the target tower crane, so that the frequency converter controls a motor of the target tower crane to drive the target tower crane to operate according to the second planned path to the hoisting terminal according to the third type of control instruction.
9. The method according to claim 1 or 2, wherein the sending of the permission transfer instruction to the terminal device when the target tower crane is determined to reach the hoisting target point comprises:
and when the distance between the target tower crane and the hoisting target point is determined to be smaller than the preset distance, sending a permission issue transfer instruction to the terminal equipment.
10. The method of claim 9, further comprising:
when the distance between the target tower crane and the hoisting target point is determined to exceed a preset distance, sending an authority withdrawing and transferring instruction to the terminal equipment;
and judging whether the target tower crane runs the planned path or not, if so, sending a hoisting requirement completion notice to the scheduling platform, and otherwise, controlling the target tower crane to continue running according to the rest planned path.
11. The utility model provides a tower crane controlling means which characterized in that includes:
the system comprises a hoisting demand and initial position receiving module, a dispatching platform and a target tower crane, wherein the hoisting demand and initial position receiving module is used for receiving a hoisting demand sent by the dispatching platform and an initial position sent by a related target tower crane, the hoisting demand is sent to the dispatching platform by terminal equipment and comprises at least one hoisting target point;
the planned path determining module is used for determining a planned path according to the hoisting requirement and the initial position and controlling the target tower crane to operate to the hoisting target point according to the planned path;
the path adjusting module is used for acquiring the operation position of the target tower crane in real time and adjusting the actual operation path of the target tower crane based on the operation position and the planned path;
and the hoisting control module is used for sending an authority transfer instruction to the terminal equipment when the target tower crane is determined to reach the hoisting target point, so that the terminal equipment acquires the control right for the target tower crane according to the authority transfer instruction, and sends a hoisting instruction to the target tower crane based on the control right so as to control the target tower crane to execute hoisting work according to the hoisting instruction.
12. The tower crane edge controller is characterized by comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-10.
13. A computer-readable storage medium storing computer instructions for causing a processor to perform the method of any one of claims 1-10 when executed.
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