WO2021093347A1

WO2021093347A1 - Hoisting method, hoisting control system, and construction machinery

Info

Publication number: WO2021093347A1
Application number: PCT/CN2020/100414
Authority: WO
Inventors: 胡敏; 黄国勇; 曾杨; 林能发; 龙文堃
Original assignee: 中联重科股份有限公司; 湖南中联重科建筑起重机械有限责任公司
Priority date: 2019-11-13
Filing date: 2020-07-06
Publication date: 2021-05-20
Also published as: CN112794208A; CN112794208B

Abstract

A hoisting method, a hoisting control system, and construction machinery. The method comprises: acquiring a plurality of on-site construction images and hoisting operation information of a hoisting device, the hoisting operation information comprising lifting position information and hanger lowering position information; and during a hoisting operation performed by the hoisting device according to an execution instruction, monitoring the execution of the hoisting operation on a ground control terminal according to the on-site construction images and the hoisting operation information. The hoisting control system comprises a processor and a memory for implementing the hoisting method. The construction machinery is provided with the hoisting control system. The hoisting method, hoisting control system, and construction machinery enable an operator to perform normal operations under a tower using the hoisting device, thereby reducing potential safety hazards and improving construction efficiency.

Description

Hoisting method, hoisting control system and construction machinery

Technical field

The invention relates to the technical field of hoisting, in particular to a hoisting method, a hoisting control system and an engineering machinery.

Background technique

Hoisting machinery (such as tower cranes) is the most commonly used lifting equipment for lifting construction materials on construction sites. The tower crane can be transported in parallel, vertical and 360 degrees without dead angles. It has made a great contribution to modern architecture and is an indispensable equipment for construction.

The existing hoisting machinery operation methods rely on the cooperation of the operator in the operation room on the tower and the on-site hoisting personnel under the tower. This operation method that relies solely on human eyes and experience to judge not only requires high technical requirements for the driver and on-site hoisting personnel , And test the tacit understanding and trust between the two, behind which there are huge security risks. First of all, the driver needs to climb to the control room on the tower to work. The height of the suspended tower ranges from a dozen meters to a few hundred meters. In the case of almost no safety measures in the existing technology, the personal safety of the tower crane driver is greatly affected. Hidden dangers, at the same time, the physical requirements of the operating drivers are also particularly high, which will restrict those who want to engage in the industry of tower crane hoisting. Secondly, when operating drivers perform high-altitude construction operations in the control room, due to the limited visual range of the human eye, it is difficult to accurately judge the surrounding operating environment, which can easily cause misoperation or improper operation, resulting in low lifting efficiency or accidents.

Therefore, how to transfer operations from the tower to the tower has become an urgent problem to be solved at present.

Summary of the invention

In view of this, the present invention aims to provide a method for controlling the tower crane on the ground, so that the operator can perform normal operations on the tower crane under the tower, thereby reducing potential safety hazards and improving construction efficiency.

In order to achieve the above objective, the technical solution of the present invention is achieved as follows:

The first aspect of the present invention also provides a hoisting method, which includes:

Acquiring multiple on-site construction images and hoisting operation information of hoisting operation equipment on the site, where the hoisting operation information includes hoisting position information and hook drop position information;

During the hoisting operation performed by the hoisting operation equipment according to the execution instruction, the execution of the hoisting operation is monitored at the ground control terminal according to the on-site construction image and the hoisting operation information.

Optionally, the execution instruction comes from a path planning subsystem or an on-site lifting personnel.

Optionally, the monitoring the execution of the hoisting operation includes:

Monitoring the system parameters of the hoisting equipment during the hoisting operation;

When any one of the system parameters exceeds the preset threshold corresponding to the parameter, an alarm instruction is issued.

Optionally, the monitoring the execution of the hoisting operation includes:

When any one of the system parameters exceeds a preset threshold corresponding to the parameter, an emergency stop instruction is issued to the hoisting equipment.

Optionally, the monitoring the execution of the hoisting operation includes:

Judging whether there is an obstacle during the hoisting operation according to the on-site construction image;

When it is determined that the obstacle exists, an emergency stop instruction is issued to the hoisting equipment.

Optionally, in the case that the execution instruction comes from the path planning subsystem, the execution instruction is generated in the following manner:

Acquiring the lifting position information and the hook drop position information in the lifting operation information;

Determining a hoisting path according to the hoisting position information and the hook drop position information, wherein the hoisting path includes the rotation angle, the amplitude of luffing, and the hook height of the hoisting equipment to be executed;

According to the hoisting path, an execution instruction for controlling the hoisting work equipment is generated.

Optionally, the path planning subsystem further includes:

Judging whether there is an obstacle in the hoisting path according to the on-site construction image;

When it is determined that the obstacle exists, the hoisting path is re-planned to avoid the obstacle.

Optionally, in the case that the execution instruction comes from an on-site lifting personnel, the execution instruction is obtained in the following manner:

The on-site hoisting personnel sends execution instructions to the hoisting equipment through a portable control device.

Optionally, the on-site construction images include: on-site shot images of the rear of the balance arm of the hoisting equipment, the front of the boom, the lower part of the trolley, and the lower part of the rotating mechanism.

Optionally, the on-site construction image further includes: a hoisting operation image captured by tracking and shooting the hook and the hoisted object under the trolley.

Optionally, the on-site construction image further includes: on-site operation images of the on-site lifting personnel, and the on-site operation images are captured by a mobile image acquisition device provided on the helmet worn by the on-site lifting personnel.

Optionally, the system parameters include one or more of the following: hook height, hook amplitude, hook rotation angle, hoisting weight, and boom inclination angle.

Optionally, the path planning subsystem is also used to: set system state parameters, set the display mode of the on-site construction image, and set the control mode of the system.

In the second aspect of the present invention, there is also provided a hoisting control system, which includes:

At least one processor;

A memory connected to the at least one processor;

Wherein, the memory stores instructions that can be executed by the at least one processor, and the at least one processor implements the aforementioned hoisting method by executing the instructions stored in the memory.

In the third aspect of the present invention, there is also provided an engineering machine equipped with the aforementioned hoisting control system.

The hoisting method of the present invention can transform the operating driver on the tower in the prior art from the original full-process control role to the supervisory role on the ground operating platform, and reduces the labor intensity and safety risks of the operating driver. Through the monitoring screen of the ground control room, the field of vision of the operator can be expanded. At the same time, a variety of auxiliary perspectives are provided to enhance the safety of hoisting operations. It can also realize the dynamic monitoring of obstacles during the hoisting operation, and respond in time, ensuring the safety of the operation and reducing the risk of accidents. This scheme moves the linkage platform on the tower to the bottom of the tower, which can not only ensure that the driver's original operating attributes remain unchanged, but also free the driver from the tower to the ground, ensuring the driver's operating comfort and personal safety.

Other features and advantages of the present invention will be described in detail in the following specific embodiments.

Description of the drawings

The drawings constituting a part of the present invention are used to provide a further understanding of the present invention, and the exemplary embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the attached picture:

Fig. 1 is a flowchart of a method according to an embodiment of the present invention;

Figure 2 is a system structure diagram of an embodiment of the present invention;

Figure 3 is a schematic diagram of the layout of the ground control room in the embodiment of the utility model;

4 is a schematic diagram of the arrangement of the first camera and the second camera on the tower crane in the embodiment of the utility model;

Figure 5 is a schematic diagram of the keys of the remote control in an embodiment of the utility model;

Fig. 6 is a schematic diagram of a path planning system included in an industrial computer according to an embodiment of the present invention.

Description of Reference Signs

1-Display 1 2-Display 2 3-Display 3

4-Industrial computer touch screen 5-Left linkage console operation interface

6-Right linkage console operation interface 7-Ground control terminal body 8-Driver seat

9-Electric control cabinet on the ground control end 10-charging storage cabinet for smart helmets

11.12- Two first cameras installed on the base of the balance arm

13, 14- Two first cameras installed on the base of the boom arm

15-The first camera installed on the truck

16-The second camera installed on the base of the boom arm

17-The second camera set on the tip of the boom

Detailed ways

In this embodiment, a ground control tower crane system with an embedded industrial computer and PLC (Programmable Logic Controller, programmable logic controller) as the core is used to control the tower crane. The technical route of the entire ground control tower crane system consists of two parts, the upper and lower parts, including the PLC on the tower, the PLC under the tower, the ground control terminal, the remote control system, the video monitoring system, the path planning system, and the safety monitoring system. The working principle of the whole system is based on the multiple cameras arranged on the tower crane to take pictures of the tower crane itself and the surrounding scenes from multiple perspectives, and transmit them to the display on the ground control terminal in real time. The operator can view the construction environment according to the pictures on the display. Make a judgment, choose a reasonable control method according to its difficulty, and finally control the linkage platform under the tower to complete the hoisting task.

The system includes: a ground control terminal, a first PLC and multiple first cameras. Among them, the first PLC is connected to the existing tower crane PLC on the tower crane to be controlled, and the tower crane PLC is connected to the existing tower crane actuator. The multiple first cameras are respectively arranged on the balance arm root, the boom arm root, the trolley and the slewing mechanism of the tower crane to be controlled, as shown in Figure 4, and are used to photograph the rear of the balance arm, the front of the boom, and the slewing mechanism. The construction screen under the load trolley and under the slewing mechanism. The ground control terminal in this embodiment includes: a platform, an industrial computer, a second PLC, a display screen, and a linkage platform for receiving control instructions. Among them, the second PLC is respectively connected to the first PLC and the linkage platform, and multiple first cameras, second PLCs and display screens are all connected to the industrial computer. The industrial computer, the second PLC and the linkage platform are all encapsulated in the table body, and the display screen is set On the platform, as shown in Figure 3.

In this embodiment, the first PLC is arranged on the tower body of the tower crane to be controlled, which is convenient for connection with the existing tower crane PLC. The above-mentioned first PLC is also called the PLC on the tower, and the second PLC is also called the PLC under the tower. The PLC on the tower is connected to the PLC under the tower through the POWERLINK communication bus, and receives instructions transmitted by the industrial computer through the PLC under the tower, or transmits and collects to the PLC under the tower. The various signal parameters on the tower crane are then transmitted to the industrial computer for corresponding processing. The second PLC is connected to the industrial computer through a CAN communication bus.

In order to enable the operator to have a better field of view, the system described in this embodiment further includes two second cameras, and the second cameras are automatic tracking cameras. Preferably, the second camera is a dome camera with an automatic tracking and shooting function. The second cameras are respectively arranged on the boom root and the boom tip of the tower crane to be controlled, and are used to track and photograph the hook and the object being lifted under the trolley of the tower crane, as shown in FIG. 4. The second camera is connected to the industrial computer in the ground control terminal, and transmits the shooting picture to the industrial computer in real time, and displays it on the display screen. In this embodiment, both the first camera and the second camera are wirelessly connected to the industrial computer.

The above-mentioned first camera, second camera, industrial computer, and display screen together constitute the video surveillance system in this embodiment, which is used to display the construction pictures that the operator cares about in a multi-angle and multi-directional manner. At the same time, in order to distinguish the importance of each monitoring perspective and study the location, angle and type of video information collection, this embodiment integrates the advantages of wired, wireless, and 4G network transmission technologies and applies them to video transmission from different perspectives to form a tower The high-altitude environment of the aircraft and the multi-view video network system of the hook, so as to realize long-distance, low-latency, and large-information real-time video monitoring. Specifically, the first camera in this embodiment is a gun camera, and the second camera is a dome camera. The operator judges the optimal operation mode according to the pictures taken by the first camera and the second camera. Among them, there are two first cameras set on the base of the balance arm of the tower crane to be controlled, and the two are set on the base of the balance arm. The left and right sides are used to shoot the construction pictures behind the balance arm; there are two first cameras set on the base of the boom arm of the tower crane to be controlled, and they are respectively set on the left and right sides of the base of the boom arm for shooting. The construction picture in front of the boom; the first camera installed on the trolley of the tower crane to be controlled has one camera, which is used to take real-time pictures of the underside of the trolley and the hook vertically downwards; set on the slewing mechanism of the tower crane to be controlled There is one camera on the first, which is used to shoot the full-angle picture of the construction scene under the rotating mechanism. The first camera provided on the revolving mechanism may also be provided under the revolving mechanism. There are two second cameras, which are respectively set on the boom root and the boom tip of the tower crane to be controlled, and are used for wide-angle automatic tracking and shooting of the hoisted object. The diameter range centered on the hoisted object can pass through The dome camera automatic control parameters of the industrial computer are set.

As shown in FIG. 2, the system described in this embodiment further includes: a safety monitoring device arranged on the tower crane to be controlled, and the safety monitoring device is respectively connected to the tower crane PLC and the industrial computer. Preferably, the safety monitoring device is connected to the PLC of the tower crane through the RS485 bus, and is connected to the industrial computer through the CAN communication bus.

In this embodiment, the ground control terminal (ie, the ground terminal console in FIG. 2) further includes: an alarm device arranged on the surface of the table body, and the alarm device is connected to an industrial computer.

A safety monitoring system is installed in the above safety monitoring device to monitor the hoisting weight, amplitude value, height value, rotation value, wind speed value, inclination value and other parameters when the tower crane moves. Once the tower crane is operating, it exceeds the set safety range , The safety monitoring system will alarm or stop the tower crane through the above-mentioned alarm device to ensure the safe construction of the tower crane and the safety of life and property. Its working principle is that the path planning system installed in the industrial computer sends instructions to the safety monitoring system through the CAN communication protocol, and then the safety monitoring system is connected with the original tower crane PLC through RS485, and is displayed and monitored in real time on the display of the safety monitoring system The working condition of the tower crane.

As shown in FIG. 2, the system described in this embodiment further includes: a portable control device (such as a remote control) and a remote control signal receiver. Wherein, the remote control signal receiver is arranged on the tower crane to be controlled, and the remote control signal receiver is connected to the first PLC (that is, the PLC on the tower), and the remote control and the remote control signal receiver are wirelessly connected.

The schematic diagram of the remote control buttons shown in Figure 5, including emergency brake, hook up/down, turn left/right, luffing large/small, fast mode, slow mode, start and standby these function keys, on-site lifting personnel You can use the remote control to perform the above operations on the tower crane to realize the delicate operation of the tower crane. The specific operation is to first press the start button, then select one of the fast or slow mode, and then press the corresponding lifting, turning, and luffing buttons according to the state of the tower crane, so as to control the tower crane to execute according to the command. , If you need to stop the tower crane in an emergency, just press the emergency brake button.

In the process of remote control operation, first, the remote control sends the instructions on the buttons and receives them through the remote control signal receiver 433 wireless communication, and then transmits the command signal to the PLC on the tower (ie the first PLC) through CAN communication, The PLC maps the control command signal to the existing tower crane PLC through I/O, so that the various actuators of the tower crane execute the corresponding rotation, luffing, and lifting actions according to the transmitted commands, so as to control the tower in the remote control mode machine.

The system described in this embodiment also includes: a smart safety helmet with a positioning function, and the smart safety helmet is wirelessly connected to an industrial computer on the ground control terminal. Further, the cap body of the smart helmet is also provided with a camera and a first microphone, which have shooting and call functions, and both the camera and the first microphone are wirelessly connected with the industrial computer on the ground control terminal.

In order to realize the voice call function, the ground control terminal in this embodiment further includes: a second microphone, the second microphone is arranged on the upper surface of the ground control terminal body, and the second microphone is connected to the industrial computer.

The above-mentioned smart safety helmet, the webpage login safety helmet monitoring system installed in the industrial computer, the second microphone and the display screen together form the smart safety helmet monitoring system. Among them, the smart helmet is worn by the person who hangs it on site, has functions such as positioning, calling, and shooting video, and communicates with the ground control terminal through a 4G signal. The operating driver logs in through the helmet monitoring system displayed on the display 3 on the ground control terminal. Based on Beidou navigation, the system can display the location of the smart helmet in real time. The operator can send voice and video call requests to the lifting personnel at any time. , The smart helmet can transmit the scene shot on-site to the industrial computer on the ground control end, and display it on the display screen 3. This method not only adds more on-site perspectives to facilitate the operator's judgment, but also facilitates the operator's timely communication with the on-site lifting personnel, reducing misoperations.

There are three display screens in this embodiment, as shown in FIG. 3. Among them, the display screen 1 and the display screen 2 are used to display the real-time shooting images of the first camera and the second camera. The operator can also log in to the video management system to set the video images according to personal operating habits. The above video management system is installed on the industrial computer In, it is part of the path planning system in the industrial computer. In practical applications, the leftmost display screen 1 shown in Figure 3 is used to display the rarely used auxiliary viewing angle picture; the middle display screen 2 is used to display the main viewing angle picture of the lifting operation; the rightmost display screen 3 is used To display the login interface of the helmet monitoring system, the helmet monitoring system displays the current position of the smart helmet in real time based on Beidou satellite navigation. When the operator conducts a video call with the hoisting personnel through the ground control terminal, the front image of the smart helmet worn by the hoisting personnel will be captured. The operator can clearly understand the surroundings of the hoisting equipment according to the captured images. Environment, and then manipulate the linkage platform through the linkage platform operating handle to hoist the goods. In this embodiment, in order to facilitate actual operations and simulate a real tower operating environment, the linkage platform is divided into two parts, a left linkage platform and a right linkage platform. The linkage platform in this embodiment has the same structure and function as the linkage platform on the existing tower crane.

In this embodiment, a driver's seat is also provided in front of the ground control terminal, and both the ground control terminal and the driver's seat are arranged in a preset ground control room. As shown in Figure 3, the ground control room is also provided with an electric control cabinet for the ground control terminal and a charging storage cabinet for the smart helmet.

In this embodiment, the ground control terminal further includes a touch screen, which is inlaid on the upper surface of the ground control terminal body, and the touch screen is connected to an industrial computer to display various system parameters of the industrial computer. The operator can use this The touch screen sets the above-mentioned various system parameters.

Specifically, a path planning system is installed in the industrial computer on the ground control end, and the path planning system is a collection of various sub-systems, as shown in FIG. 6. The path planning system in this embodiment displays the status of the main interface, camera control, security monitoring system, smart helmet communication, system settings, etc., on the display screen shown in Figure 3. The operating driver can monitor the system status through the touch screen. Set up and control the operation of the tower crane. The main interface shows the tower crane's boundary settings, algorithm debugging, task mode, motion control parameters, etc.; the camera control interface shows the manual or automatic control mode selection of the dome camera 1/2, installation horizontal or vertical deviation, manual control mode Downward vertical up/down, horizontal left/right, zoom in and zoom out commands, the allowable deviation percentage of the viewing angle in the automatic control mode, the vertical range of the shooting picture, and the length of the rope; the safety monitoring system displays the current height, amplitude, and rotation of the hook in real time Angle, weight, torque, wind speed, maximum working height/amplitude, torque limit, amplitude limit, hoisting limit, rotation limit, height limit, wind speed limit and other information; the intelligent safety helmet monitoring system interface displays real-time The coordinate value of the top smart helmet can be called the smart helmet; the system setting interface is the selection of electronic control system type, remote control mode selection and control mode selection.

There are three above-mentioned control modes in this embodiment, namely driver control, remote control and automatic operation control. During this period, the tower crane driver/operating driver can cooperate with the lifting personnel on site.

The driver control mode refers to the way in which the tower crane driver/operating driver controls the tower crane through the operation of the linkage platform on the ground control end. The specific implementation method is to map the lifting, turning, luffing, emergency stop, wind vane, bypass and other commands of the linkage platform to the PLC under the tower (that is, the second PLC), and then the PLC under the tower sends these commands and the path planning system. The commands are all packaged and sent to the PLC on the tower through POWERLINK communication. Finally, the PLC on the tower is connected to the existing tower crane PLC, and the input and output signal commands are mapped to the tower crane's various actuators to realize the control of the tower crane. . At the same time, the PLC on the tower will communicate through POWERLINK to transmit the indicator torque red, indicator torque yellow, indicator weight red, indicator weight yellow, indicator buzzer, weathercock indicator and other signals to the PLC under the tower. , And finally mapped to the linkage platform through the I/O port of the PLC under the tower.

The remote control mode refers to the way that the crane operator controls the tower crane by holding the remote control on site. The specific implementation method is that the remote control sends operation instructions, such as hook up, hook down, trolley luffing outward, trolley luffing inward, tower crane rotation, start, emergency stop operation, etc., and the tower remote control receiver After receiving these commands, it is connected to the PLC on the tower through the CAN communication bus, and then the PLC on the tower sends the instructions to the original existing tower crane PLC, and finally maps the input and output signal commands to the tower crane's various actuators to realize the tower The control of the machine. However, the driver control mode has absolute priority to the control of the tower crane. That is to say, when the crane operator remotely controls the tower crane to perform improper operations, the driver will promptly intercept the on-site construction if the driver performs any operation on the tower crane on the linkage platform. Control of hoisting personnel.

The automatic operation mode refers to the mode in which the tower crane automatically operates according to the programmed state.

The ground control tower crane system of the utility model is equipped with cameras on the balance arm, lifting arm, load trolley and slewing mechanism of the tower crane, and the camera is connected to the industrial computer in the ground control end, so it can be multi-angled The construction screen that the driver pays attention to is displayed on the display screen in all directions, thereby reducing potential safety hazards during tower crane operation and improving construction efficiency; and because the first PLC and second PLC are set up on the tower crane and under the tower crane respectively, The system can transmit the instructions of the linkage platform and the industrial computer to the first PLC through the second PLC, and then to the existing tower crane PLC on the tower crane to be controlled, and the tower crane PLC controls the operation of the tower crane actuator. At the same time, the integrated packaging of the equipment in the ground control terminal enables the operator to perform normal operations under the tower without changing the original operating habits on the tower.

The optional implementations of the embodiments of the present utility model are described in detail above with reference to the accompanying drawings. However, the embodiments of the present utility model are not limited to the specific details in the above-mentioned implementation manners. Within the scope of the technical concept of the embodiments of the present utility model, the present utility model can be modified. The technical solution of the embodiment of the utility model is subjected to a variety of simple modifications, and these simple modifications all belong to the protection scope of the embodiment of the utility model.

In addition, it should be noted that the various specific technical features described in the foregoing specific embodiments can be combined in any suitable manner, provided that there is no contradiction. In order to avoid unnecessary repetition, various possible combinations are not further described in the embodiments of the present invention.

Claims

A hoisting method, characterized in that the method includes:

Acquiring multiple on-site construction images and hoisting operation information of hoisting operation equipment on the site, where the hoisting operation information includes hoisting position information and hook drop position information;

During the hoisting operation performed by the hoisting operation equipment according to the execution instruction, the execution of the hoisting operation is monitored at the ground control terminal according to the on-site construction image and the hoisting operation information.
The hoisting method according to claim 1, wherein the execution instruction comes from a path planning subsystem or an on-site hoisting person.
The hoisting method according to claim 1 or 2, wherein the monitoring the execution of the hoisting operation comprises:

Monitoring the system parameters of the hoisting operation equipment in the process of performing the hoisting operation;

When any of the system parameters exceeds the preset threshold corresponding to the parameter, an alarm instruction and/or an emergency stop instruction are issued.
The hoisting method according to claim 1 or 2, wherein the monitoring the execution of the hoisting operation comprises:

Judging whether there is an obstacle during the hoisting operation according to the on-site construction image;

When it is determined that the obstacle exists, an emergency stop instruction is issued to the hoisting equipment.
The hoisting method according to claim 2, characterized in that, in the case that the execution instruction comes from a path planning subsystem, the execution instruction is generated in the following manner:

Acquiring the lifting position information and the hook drop position information in the lifting operation information;

Determining a hoisting path according to the hoisting position information and the hook drop position information, wherein the hoisting path includes the rotation angle, the amplitude of luffing, and the hook height of the hoisting equipment to be executed;

According to the hoisting path, an execution instruction for controlling the hoisting work equipment is generated.
The hoisting method according to claim 5, characterized in that, in the process of generating the execution instruction by the path planning subsystem, the method further comprises:

Judging whether there is an obstacle in the hoisting path according to the on-site construction image;

When it is determined that the obstacle exists, the hoisting path is re-planned to avoid the obstacle.
The hoisting method according to claim 2, characterized in that, in the case that the execution instruction comes from an on-site hoisting person, the execution instruction is obtained in the following manner:

The on-site hoisting personnel sends execution instructions to the hoisting equipment through a portable control device.
The hoisting method according to claim 1, wherein the on-site construction images include: on-site photographed images of the rear of the balance arm of the hoisting equipment, the front of the crane arm, the lower part of the truck, and the lower part of the slewing mechanism.
The hoisting method according to claim 8, wherein the on-site construction image further comprises: a hoisting operation image captured by tracking the hook and the hoisted object under the trolley.
The hoisting method according to claim 8, wherein the on-site construction image further comprises: on-site operation images of the on-site hoisting personnel, and the on-site operation images are set on the safety helmet worn by the on-site hoisting personnel. On the mobile image capture device.
The hoisting method according to claim 3, wherein the system parameters include one or more of the following: hook height, hook amplitude, hook rotation angle, hoisting weight, boom inclination angle.
The hoisting method according to claim 2, wherein the path planning subsystem is further used for setting system state parameters, setting the display mode of the on-site construction image, and setting the control mode of the system.
A hoisting control system, characterized in that the system includes:

At least one processor;

A memory connected to the at least one processor;

Wherein, the memory stores instructions that can be executed by the at least one processor, and the at least one processor implements the hoisting method according to any one of claims 1 to 12 by executing the instructions stored in the memory .
An engineering machine, characterized in that the engineering machine is equipped with the hoisting control system according to claim 13.