WO2024067697A1

WO2024067697A1 - Intelligent control system and method for tower cranes

Info

Publication number: WO2024067697A1
Application number: PCT/CN2023/122022
Authority: WO
Inventors: 李平; 郭丽萍; 卢小东; 吕志勇; 丁玉奇
Original assignee: 北京东土科技股份有限公司
Priority date: 2022-09-28
Filing date: 2023-09-27
Publication date: 2024-04-04
Also published as: CN115744635A

Abstract

An intelligent control system and method for tower cranes. The intelligent control system comprises: a scheduling platform (20), a terminal device (10) and tower crane edge controllers (30); the terminal device is configured to send a hoisting requirement to the scheduling platform, the hoisting requirement comprising at least one hoisting target point; the scheduling platform is configured to determine a target tower crane according to the hoisting requirement, and send the hoisting requirement to the tower crane edge controller associated with the target tower crane; said tower crane edge controller is configured to determine a path plan according to the hoisting requirement, and, when the target tower crane is controlled to arrive at said hoisting target point according to the path plan, send a permission transfer instruction to the terminal device; and the terminal device is further configured to acquire, according to the permission transfer instruction, a right of control on the target tower crane, and send a hoisting command to the target tower crane on the basis of the right of control, so as to allow the target tower crane to perform a hoisting operation according to the hoisting command.

Description

Tower crane intelligent control system and method

This application claims priority to the Chinese patent application filed with the China Patent Office on September 28, 2022, with application number 202211193337.X. The entire contents of this application are incorporated by reference into this application.

Technical Field

The present application relates to the field of intelligent control technology, for example, to an intelligent control system and method for a tower crane.

Background technique

Tower cranes are important lifting tools in the construction field. The driver in the tower crane cockpit (referred to as the tower crane driver) controls the tower crane to complete the lifting work of houses or bridges. This not only has strict requirements on the driving and operating skills of the tower crane driver, but also the work efficiency is usually low. In response to the above problems, some manufacturers in the industry have realized remote operation, which transplants the cab control panel at the top of the tower crane to the remote end through communication means, which can be realized through a remote cockpit or a handheld control panel.

However, the remote driving method requires a work area, and the construction site usually cannot provide a dedicated work area for the tower crane to operate. In addition, the tower crane's height perception cannot be achieved through video alone, and it cannot be truly experienced on the ground, so it is not very practical. For the handheld control panel method, the tower crane needs to look up and follow the hook, which has higher requirements for the tower crane. Not only must the operator be experienced, but he must also master the ground environment in advance. Therefore, the remote operation method has not fundamentally changed the working method of the tower crane.

Summary of the invention

The present application provides a tower crane intelligent control system and method to achieve intelligent control of the tower crane.

In a first aspect, the present application provides a tower crane intelligent control system, including: a dispatching platform, a terminal device and a tower crane edge controller;

The terminal device is configured to send a hoisting requirement to the scheduling platform, wherein the hoisting requirement includes at least one hoisting target point;

The scheduling platform is configured to determine a target tower crane according to the hoisting requirement, and send the hoisting requirement to a tower crane edge controller associated with the target tower crane;

The tower crane edge controller is configured to determine a planned path according to the hoisting requirement, and control the target tower crane to reach the hoisting target point according to the planned path, and send an authority transfer instruction to the terminal device;

The terminal device is configured to obtain control of the target tower crane according to the authority transfer instruction. The control right is obtained, and based on the control right, a hoisting instruction is sent to the target tower crane, so that the target tower crane performs the hoisting work according to the hoisting instruction.

In a second aspect, the present application provides a tower crane intelligent control method, using a terminal device, including:

Sending a hoisting requirement to a dispatching platform, so that the dispatching platform determines a target tower crane according to the hoisting requirement, and sends the hoisting requirement to a tower crane edge controller associated with the target tower crane;

Receiving an authority transfer instruction sent by the tower crane edge controller, wherein the authority transfer instruction is generated when the tower crane edge controller determines a planned path according to the hoisting requirement and controls the target tower crane to reach the hoisting target point according to the planned path;

The control right for the target tower crane is acquired according to the authority transfer instruction, and a hoisting instruction is sent to the target tower crane based on the control right, so that the target tower crane performs the hoisting work according to the hoisting instruction.

In a third aspect, the present application provides a tower crane intelligent control method, which is applied to a tower crane edge controller, including:

Receiving a hoisting requirement sent by a scheduling platform, wherein the hoisting requirement is sent by a terminal device to the scheduling platform and includes at least one hoisting target point;

Determine the planned path according to the lifting requirements;

When the associated target tower crane is controlled to reach the hoisting target point according to the planned path, an authority transfer instruction is sent to the terminal device so that the terminal device obtains 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 perform the hoisting work according to the hoisting instruction.

In a fourth aspect, the present application provides a tower crane intelligent control method, which is applied to a dispatching platform, including:

Receiving a hoisting requirement sent by a terminal device, wherein the hoisting requirement includes at least one hoisting target point;

Determine a target tower crane according to the hoisting requirement, and send the hoisting requirement to a tower crane edge controller associated with the target tower crane, so that the tower crane edge controller determines a planned path according to the hoisting requirement, and controls the target tower crane to reach the hoisting target point along the planned path, sends an authority transfer instruction to the terminal device, obtains control over the target tower crane according to the authority transfer instruction through the terminal device, and sends a hoisting instruction to the target tower crane based on the control right, so as to control the target tower crane to perform hoisting work according to the hoisting instruction.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the structure of a tower crane intelligent control system provided in Example 1 of the present application;

FIG2 is a schematic diagram of an application scenario of a tower crane intelligent control system provided in Example 1 of the present application;

FIG3 is a schematic diagram of the structure of another tower crane intelligent control system provided in Example 1 of the present application;

FIG4 is a schematic diagram of signaling interaction of a tower crane intelligent control system provided in Example 2 of the present application;

FIG5 is a schematic diagram of signaling interaction of a tower crane intelligent control system provided in Example 3 of the present application;

FIG6 is a flow chart of a tower crane intelligent control method provided in Embodiment 4 of the present application;

FIG7 is a flow chart of a tower crane intelligent control method provided in Embodiment 5 of the present application;

FIG8 is a flow chart of a tower crane intelligent control method provided in Example 6 of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. The described embodiments are only embodiments of a part of the present application.

The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units listed, but may include other steps or units that are not listed or inherent to these processes, methods, products or devices.

Embodiment 1

Figure 1 is a structural schematic diagram of a tower crane intelligent control system provided in Example 1 of the present application. This embodiment can be applied to the situation of intelligently controlling the tower crane. As shown in Figure 1, the system includes: a dispatching platform 20, a terminal device 10 and a tower crane edge controller 30.

The terminal device 10 is configured to send a lifting demand to the scheduling platform, and the lifting demand includes at least one lifting target point; the scheduling platform 20 is configured to determine the target tower crane according to the lifting demand, and send the lifting demand to the tower crane edge controller associated with the target tower crane; the tower crane edge controller 30 is configured to determine the planned path according to the lifting demand, and control the target tower crane to reach the lifting target point according to the planned path, and send an authority transfer instruction to the terminal device; the terminal device 10 is configured to obtain control over the target tower crane according to the authority transfer instruction, and send a lifting instruction to the target tower crane based on the control right, so that the target tower crane performs the lifting work according to the lifting instruction.

FIG2 is a schematic diagram of an application scenario of the tower crane intelligent control system in this embodiment. There can be multiple tower cranes on the ground, and the dispatching platform can centrally dispatch multiple tower cranes. Designated workers on the construction site are equipped with terminal devices. When lifting tasks need to be performed, they can send lifting requirements to the dispatching platform through the terminal devices. After the dispatching platform determines the target tower crane, it controls the tower crane edge controller associated with the target tower crane, determines the planned path, and controls the target tower crane to perform lifting work according to the planned path.

The scheduling platform is configured to obtain the operating status of each tower crane in the tower crane cluster, where the operating status includes an idle state and a non-idle state. The tower crane closest to the lifting target point is selected from the tower cranes in the idle state, and the selected tower crane is used as the target tower crane. Alternatively, the lifting requirement also includes the target tower crane number, and the target tower crane is directly determined based on the target tower crane number.

In one implementation, the scheduling platform obtains the lifting requirements sent by the terminal device, and the lifting requirements include at least one lifting target point. The scheduling platform can communicate with each tower crane in the tower crane cluster, and can obtain the operating status, current position and surrounding environment information of each tower crane. The operating status includes idle state and non-idle state. For example, it is determined that there are 3 tower cranes in the current tower crane cluster, among which No. 1 and No. 2 are in idle state, and No. 3 is in non-idle state. In order to ensure the timely completion of the lifting requirements, the tower crane closest to the lifting target point will be selected from the idle tower cranes. When No. 1 is determined to be the tower crane in idle state and closest to the lifting target point according to the position information, the tower crane No. 1 will be used as the target tower crane.

In another implementation, when the dispatching platform obtains that the lifting demand sent by the terminal device includes not only the lifting target point but also the target crane number, the target crane can be directly determined according to the target crane number. For example, it is determined that there are 3 cranes in the current crane cluster, among which number 1 and number 2 are in an idle state, and number 3 is in a non-idle state. When it is determined that the target crane number included in the lifting demand is number 3, the crane numbered 3 is directly used as the target crane. However, for the method directly specified by the user, there will be a situation where the target crane is in a non-idle state. For example, although the crane numbered 3 is determined as the target crane, the target crane is in a non-idle state at this time, that is, it is in operation. At this time, the dispatching center cannot dispatch the crane in a non-idle state, but can only receive the demand. Therefore, in this case, the lifting demand will be temporarily stored in the list of tasks to be executed. When it is determined that the target crane numbered 3 is converted to an idle state, the lifting demand will be sent to the crane edge controller associated with the target crane.

In this embodiment, after determining the target tower crane, the dispatching platform will transmit the lifting requirements and the terminal device identifier that sends the lifting requirements to the tower crane edge controller associated with the target tower crane. The tower crane edge controller will obtain the operating status, current position and surrounding environment information of the target tower crane, and determine the planned path based on the above information, and determine the optimal route for the target tower crane from the current position to the lifting target point, thereby achieving effective obstacle avoidance.

FIG3 is a schematic diagram of the structure of another tower crane intelligent control system. The tower crane intelligent control system also includes a sensing device, which is connected to the tower crane edge controller and is configured to obtain the target tower crane. The operating status, current location and surrounding environment information of the tower crane are acquired, and the above data are sent to the tower crane edge controller and the dispatching platform, so that the tower crane edge controller performs path planning according to the acquired information, and the dispatching platform remotely controls the target tower crane according to the acquired information. And the sensing device includes sensors, visual devices and radar devices. For example, the types of sensors in this embodiment may include: weight sensors, inclination sensors, height sensors, wind speed sensors, computer vision (Computer Vision, CV) recognition sensors, wind direction sensors and anti-collision sensors, etc., and the operating parameters of the target tower crane are obtained through the touch sensor: current lifting weight, rotation angle, hook height, wind speed and other related operating parameters. This embodiment is only an example, and the type of sensor is not limited.

The tower crane edge controller is configured to send an authority transfer instruction to the terminal device when it is determined that the distance between the target tower crane and the lifting target point is less than a preset distance.

The terminal device is configured to obtain control over a target tower crane by issuing a transfer instruction according to authority, and to send a hook-down instruction to the target tower crane based on the control authority, so that the target tower crane performs a hook-down lifting operation according to the hook-down instruction, or to send a hook-lifting instruction to the target tower crane based on the control authority, so that the target tower crane performs a hook-lifting lifting operation according to the hook-lifting instruction.

The tower crane edge controller is also configured to send an authority revocation transfer instruction to the terminal device when it is determined that the distance between the target tower crane and the lifting target point exceeds a preset distance.

The tower crane edge controller in this embodiment is also configured to send an authority transfer instruction to the terminal device when it is determined that the target tower crane is at a specified height from the lifting target point, wherein the authority transfer instruction includes issuing control authority for the target tower crane or reclaiming control authority for the target tower crane. For example, when it is determined that the distance between the target tower crane and the lifting target point is less than 1 meter, an authority transfer instruction is sent to the terminal device. The terminal device obtains control over the target tower crane according to the authority transfer instruction, and opens a communication interface with the target tower crane based on the control authority, and controls the hooking and lowering process of the target tower crane through the communication interface. In addition, when it is determined that the distance between the target tower crane and the lifting target point exceeds 1 meter, the tower crane edge controller will send an authority revocation transfer instruction to the terminal device to revoke the terminal device's control over the target tower crane.

The tower crane edge controller is also configured to determine whether the target tower crane has completed the planned path after sending an authority revocation transfer instruction to the terminal device. If the target tower crane has completed the planned path, a lifting demand completion notification is sent to the dispatching platform. Otherwise, the target tower crane has not completed the planned path, and the target tower crane is controlled to continue running according to the remaining planned path.

The dispatching platform is also configured to send an authority allocation instruction to the terminal device when it is determined that the target tower crane is between the lifting start point and the lifting end point; the terminal device is configured to obtain the operation control right for the target tower crane according to the authority allocation instruction, and send a motion instruction to the target tower crane based on the operation control right, so that the target tower crane moves according to the motion instruction.

When the tower crane edge controller sends a permission revocation transfer instruction to the terminal device and controls the target tower crane to After continuing to run along the remaining planned path, the dispatching platform plays a core supervisory and control role in the entire hoisting process. The dispatching platform corresponds to remote control, the tower crane edge controller corresponds to automatic driving, and the terminal device corresponds to fine-tuning. Therefore, the dispatching platform, the tower crane edge controller and the terminal device have lower control authority over the target tower crane. And when the terminal device fine-tunes the target tower crane, the dispatching platform sends an authority allocation instruction to the terminal device. The terminal device is set to obtain the operation control right for the target tower crane according to the authority allocation instruction, and sends motion instructions to the target tower crane based on the operation control right, so that the target tower crane moves according to the motion instruction, so that the user can fine-tune the operation process of the target tower crane through the terminal device.

In the embodiment of the present application, the demander (terminal device) sends a lifting demand to the platform (dispatching platform), and after the platform determines the target tower crane, the lifting demand is sent to the equipment (tower crane edge controller), and the equipment determines the planned path according to the lifting demand, so that the equipment does not need to obtain a panoramic view of the tower crane to perform path planning in comparison with a remote cockpit to achieve the purpose of safe operation of the tower crane; the demander obtains control over the tower crane according to the authority transfer instruction sent by the equipment, so that compared with the handheld control console, the user using the terminal device does not need to look up and follow the hook, and the lifting work can be automatically controlled without the need for special scenarios and strict requirements on user skills; through information interaction between the demander, the platform and the equipment, it is possible to achieve unmanned or less-manned intelligent control of the tower crane without setting up a cockpit on the tower crane, thereby greatly improving the operation efficiency and safety of the tower crane.

Embodiment 2

Figure 4 is a signaling interaction diagram of a tower crane intelligent control system provided in Example 2 of the present application. In this embodiment, the entire lifting cycle involved in the simultaneous sending of the lifting start point and the lifting end point by the same terminal device is explained, and the interaction objects include: a first terminal device located near the lifting start point, a second terminal device located near the lifting end point, an edge controller of the target tower crane, and a scheduling platform.

As shown in Figure 2, the first user at position A holds a first terminal device and needs to move the construction materials at position A to position B for the second user at position B to build the beams, and the second user at position B holds a second terminal device. The first terminal device is configured to send a lifting demand to the scheduling platform. The lifting demand includes a lifting start point A and a lifting end point B, and the first terminal device is located at the lifting start point A. Since the scheduling platform can establish a tower crane position table, which includes the current position of each tower crane, the tower crane closest to the lifting start point can be determined as the target tower crane according to the lifting demand. The lifting demand can also include the target tower crane number. In this case, the scheduling platform can directly determine the target tower crane according to the target tower crane number. For the target tower crane determined by the scheduling platform through scheduling, the scheduling platform will directly send the lifting demand and the identifier of the first terminal device of the demander to the edge controller of the target tower crane; for the target tower crane determined by the user's specification, the operating status of the target tower crane will also be detected. After determining the operating status of the target tower crane When it is in an idle state, the lifting demand and the identifier of the first terminal device of the demander will be directly sent to the edge controller of the target tower crane. When it is determined that the operating state of the target tower crane is in a non-idle state, the lifting demand will be temporarily stored in the list of tasks to be executed corresponding to the target tower crane. When it is determined that the target tower crane is converted to an idle state, the lifting demand and the identifier of the first terminal device of the demander will be sent to the edge controller of the target tower crane.

After receiving the assigned lifting demand, the edge controller of the target tower crane will obtain the operating status, operating parameters and surrounding environment information of the target tower crane through the sensing device connected to the edge controller, and calculate the path based on the above information, determine the first planned path from the current position to the lifting starting point A, and the second planned path from the lifting starting point A to the lifting end point B, and control the target tower crane to run from the current position to the lifting starting point A, and when it is determined that it runs to a specified height from the lifting starting point A, for example, 1 meter above the starting point A, it will send an authority transfer instruction to the first terminal device to hand over the control authority of the target tower crane to the first terminal device.

After obtaining control of the target tower crane, the first terminal device can send a "hook down" command to the target tower crane. The first user at the lifting starting point A will load the construction materials onto the hook. After that, the first terminal device can send a "hook up" command to the target tower crane. When it is determined that the tower crane is 1 meter above the starting point A again, the edge controller will send an authority revocation transfer command to the first terminal device to reclaim control of the target tower crane from the first terminal device, and control the target tower crane to continue to run towards the lifting end point B according to the second planned path.

Before the target tower crane reaches 1 meter above the lifting end point B, in order to avoid safety accidents caused by sudden scenes, the dispatching platform plays a core supervisory and control role in the entire lifting process. The dispatching platform corresponds to remote control, the tower crane edge controller corresponds to automatic driving, and the terminal device corresponds to fine-tuning. Therefore, the control authority of the dispatching platform, the tower crane edge controller and the terminal device over the target tower crane decreases in sequence. And the control authority of the terminal device and the tower crane edge controller can be divided into different levels through the dispatching platform. Therefore, when the target tower crane is located between the lifting starting point A and the lifting end point B, the dispatching platform can send an authority allocation instruction to the first terminal device, and the first terminal device obtains the operation control right for the target tower crane according to the authority allocation instruction, and sends a motion instruction to the target tower crane based on the operation control right, so that the target tower crane moves according to the motion instruction, so that the user can fine-tune the operation process of the target tower crane through the terminal device.

When the tower crane runs to 1 meter above the lifting end point B, the edge controller of the target tower crane will send a permission transfer instruction to the second terminal device to hand over the control authority of the target tower crane to the second terminal device. After the second terminal device obtains the control right of the target tower crane, it can send a "hook down" instruction to the target tower crane. The second user at the lifting end point B will unload the construction materials from the hook. After that, the second terminal device will send a "hook up" instruction to the target tower crane. When it is determined that the tower crane is 1 meter above the end point B again, the edge controller determines that the target tower crane has completed the determined planned path and after the hook is lifted, Send a permission reclaim transfer instruction to the second terminal device to reclaim the control of the target tower crane from the second terminal device, send a lifting demand completion notification to the dispatching platform, and the dispatching center will update the operating status of the target tower crane in the task sequence after receiving the notification. Of course, in this embodiment, only the lifting demand including the lifting starting point A to the lifting end point B is used as an example for explanation. The execution method of other lifting demands is roughly the same, and will not be repeated in this embodiment.

Embodiment 3

Figure 5 is a signaling interaction diagram of a tower crane intelligent control system provided in Example 3 of the present application. In this embodiment, the entire lifting cycle involved in different terminals sending the lifting start point and the lifting end point respectively is explained, and the interaction objects include: a first terminal device located near the lifting start point, a second terminal device located near the lifting end point, an edge controller of the target tower crane, and a scheduling platform.

As shown in Figure 2, the first user at position A holds a first terminal device and needs to move the construction materials at position A to position B for the second user at position B to build the beams, and the second user at position B holds a second terminal device. The first terminal device is configured to send a hoisting requirement to the dispatching platform, the hoisting requirement includes a hoisting starting point A, and the first terminal device is located at the hoisting starting point A. The dispatching platform determines the target tower crane according to the hoisting requirement, and the hoisting requirement may also include a target tower crane number. In this case, the dispatching platform can directly determine the target tower crane according to the target tower crane number. For the target tower crane determined by the scheduling platform through scheduling, the scheduling platform will directly send the lifting demand and the identifier of the first terminal device of the demander to the edge controller of the target tower crane; for the target tower crane determined by user specification, the operating status of the target tower crane will also be detected. When it is determined to be in an idle state, the lifting demand and the identifier of the first terminal device of the demander will be directly sent to the edge controller of the target tower crane. When it is determined to be in a non-idle state, the lifting demand will be temporarily stored in the list of tasks to be executed corresponding to the target tower crane. When it is determined that the target tower crane has converted to an idle state, the lifting demand and the identifier of the first terminal device of the demander will be sent to the edge controller of the target tower crane.

After receiving the assigned lifting demand, the edge controller of the target tower crane will obtain the operating status, operating parameters and surrounding environment information of the target tower crane through the sensing device connected to the edge controller, and calculate the path based on the above information, determine the first planned path from the current position to the lifting starting point A, and control the target tower crane to run from the current position to the lifting starting point A, and when it is determined that it runs to the specified height from the lifting starting point A, for example, 1 meter above the starting point A, it will send an authority transfer instruction to the first terminal device to hand over the control authority of the target tower crane to the first terminal device.

After the first terminal device acquires control of the target crane, it can send a "hook down" command to the target crane, and the first user at the lifting starting point A will load the building materials onto the hook. Then the first terminal device can send a "hook up" command to the target crane. When it is determined that the crane is 1 meter above the starting point A again, When the target crane completes the first planned path, the edge controller sends a permission reclaiming transfer instruction to the first terminal device after the hook is lifted, so as to reclaim the control of the target crane from the first terminal device. The edge controller also sends a lifting demand completion notification to the dispatching platform. After receiving the notification, the dispatching center will update the operating status of the target crane in the task sequence.

The second terminal device at the lifting end point is configured to send an updated lifting demand to the scheduling platform. The updated lifting demand includes the lifting end point and the number of the target tower crane. The scheduling platform determines the target tower crane based on the updated lifting demand sent by the second terminal device, and sends the updated lifting demand and the identifier of the new demander's second terminal device to the edge controller of the target tower crane. The tower crane edge controller is configured to determine a second planned path from the lifting start point to the lifting end point based on the updated lifting demand, and control the target tower crane to run toward the lifting end point B along the second planned path. When it is determined that the crane runs to a specified height from the lifting end point B, for example, 1 meter above the lifting end point B, it will send an authority transfer instruction to the second terminal device at the lifting end point B to hand over the control of the target tower crane to the second terminal device.

After obtaining the control of the target tower crane, the second terminal device can send a "hook down" command to the target tower crane. The second user at the lifting end point B will unload the construction materials from the hook. After that, the second terminal device can send a "hook up" command to the target tower crane. When it is determined that the tower crane is 1 meter above the end point B again, the edge controller will send an authority revocation transfer command to the second terminal device to reclaim the control of the target tower crane from the second terminal device, and send a notification of completion of the updated lifting requirements to the scheduling platform. After receiving the notification, the scheduling center will update the operating status of the target tower crane in the task list again.

Embodiment 4

FIG6 is a flow chart of a tower crane intelligent control method provided in Embodiment 4 of the present application. This embodiment is applied to the terminal device in the tower crane intelligent control system in the above embodiment, and can be applied to the case of intelligently controlling the tower crane. As shown in FIG6 , the method includes the following steps:

Step S101, sending a hoisting requirement to a dispatching platform, so that the dispatching platform determines a target tower crane according to the hoisting requirement, and sends the hoisting requirement to a tower crane edge controller associated with the target tower crane.

The lifting requirement in this embodiment includes at least one lifting target point, for example, it may include a lifting start point and a lifting end point, or the lifting requirement includes a lifting start point, or the lifting requirement includes a lifting end point. The specific number of lifting target points included in the lifting requirement is not limited in this embodiment.

In addition, the lifting requirement also includes the number of the target tower crane. Depending on the content contained in the lifting requirement, the scheduling platform can determine the target tower crane based on at least one lifting target point, or directly determine it based on the number of the target tower crane. The method of determining the target tower crane is not limited in this embodiment, and the obtained lifting requirement is sent to the tower crane edge controller associated with the target tower crane.

Step S102, receiving the authority transfer instruction sent by the tower crane edge controller.

The authority transfer instruction is generated when the tower crane edge controller determines the planned path according to the lifting requirements and controls the target tower crane to reach the lifting target point according to the planned path.

Receiving an authority transfer instruction sent by a tower crane edge controller includes: receiving an authority transfer instruction sent by the tower crane edge controller, wherein the authority transfer instruction is generated when the tower crane edge controller determines that the distance between the target tower crane and the lifting target point is less than a preset distance.

The tower crane edge controller in this embodiment is also configured to send a permission transfer instruction to the terminal device when it is determined that the target tower crane is at a specified height from the lifting target point, wherein the permission transfer instruction includes issuing control authority for the target tower crane. When it is determined that the distance between the target tower crane and the lifting target point is less than 1 meter, the terminal device will receive the permission transfer instruction sent by the tower crane edge controller. This embodiment is only an example, and the value of the specified height is not limited.

Step S103, obtaining the 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 that the target tower crane performs the hoisting work according to the hoisting instruction.

The control right for the target tower crane is obtained according to the authority transfer instruction, and the lifting instruction is sent to the target tower crane based on the control right, including: the control right for the target tower crane is obtained according to the authority transfer instruction; the lowering hook instruction is sent to the target tower crane based on the control right, so that the target tower crane performs the lowering hook lifting work according to the lowering hook instruction, or the lifting hook instruction is sent to the target tower crane based on the control right, so that the target tower crane performs the lifting hook lifting work according to the lifting hook instruction.

After receiving the authority issuance instruction, the terminal device of this embodiment obtains the control right for the target tower crane according to the authority issuance transfer instruction, and opens the communication interface with the target tower crane based on the control right, and controls the hook raising and lowering process of the target tower crane through the communication interface.

When the distance between the target tower crane and the lifting target point exceeds 1 meter, the terminal device will also receive the authority reclaim transfer instruction sent by the tower crane edge controller, and close the communication interface with the target tower crane according to the authority reclaim transfer instruction, thereby losing control of the target tower crane.

The method also includes: receiving an authority allocation instruction sent by the scheduling platform, wherein the authority allocation instruction is generated when the scheduling platform determines that the target tower crane is located between the lifting start point and the lifting end point; obtaining operation control rights for the target tower crane according to the authority allocation instruction, and sending motion instructions to the target tower crane based on the operation control rights, so that the target tower crane moves according to the motion instructions.

In one implementation, after the terminal device receives the authority transfer instruction sent by the tower crane edge controller, the tower crane edge controller controls the target tower crane to continue to run to the lifting end point according to the remaining planned path. The terminal device will also receive the authority allocation instruction sent by the scheduling platform, and obtain the operation control right for the target tower crane according to the authority allocation instruction, that is, in the process of the target tower crane running to the lifting end point, the target tower crane is fine-tuned based on the operation control right according to the actual situation. And during the lifting During the operation from the starting point to the lifting end point, the terminal device's authority to control the operation of the target tower crane is less than that of the dispatching platform and the tower crane edge controller.

The embodiment of the present application, through the interaction between the scheduling platform, the terminal device and the tower crane edge controller, can automatically control the target tower crane and complete the lifting task without the need for special scenarios and strict requirements on user skills, thereby greatly improving the operating efficiency and safety of the tower crane.

Embodiment 5

FIG7 is a flow chart of a tower crane intelligent control method provided in Embodiment 5 of the present application. This embodiment is applied to a tower crane edge controller in the tower crane intelligent control system in the above embodiment, and can be applied to the case of intelligently controlling a tower crane. As shown in FIG7 , the method includes the following steps:

Step S201, receiving the lifting demand sent by the dispatching platform.

The lifting requirement is sent by the terminal device to the scheduling platform and includes at least one lifting target point. For example, the lifting requirement includes a lifting start point and a lifting end point, or the lifting requirement includes a lifting start point, or the lifting requirement includes a lifting end point. In this embodiment, the number of lifting target points included in the lifting requirement is not limited.

Step S202, determining a planned path according to hoisting requirements.

When the lifting requirement includes both the lifting starting point and the lifting end point, the first planned path from the current position to the lifting starting point and the second planned path from the lifting starting point to the lifting end point are determined according to the lifting requirement during path planning; when the lifting requirement only includes the lifting starting point, the first planned path from the current position to the lifting starting point is determined according to the lifting requirement. Therefore, the tower crane edge controller can determine an optimal route passing through all lifting target points based on the number of lifting target points obtained. The method for determining the optimal planned path is not limited in the implementation of the present application. Determine the first planned path from the current position to the lifting starting point according to the lifting requirement.

Step S203, when the associated target tower crane is controlled to reach the lifting target point according to the planned path, an authority transfer instruction is sent to the terminal device, so that the terminal device obtains the control right for the target tower crane according to the authority transfer instruction, and sends a lifting instruction to the target tower crane based on the control right, so as to control the target tower crane to perform the lifting work according to the lifting instruction.

In one implementation, when the lifting requirement includes both the lifting starting point and the lifting end point, and the first planned path and the second planned path are determined simultaneously based on the lifting starting point and the lifting end point, when the target tower crane is controlled to reach the lifting starting point according to the first planned path, an authority transfer instruction is sent to the terminal device located at the lifting starting point; when it is determined that the distance between the target tower crane and the lifting starting point exceeds the preset distance, an authority revocation transfer instruction is sent to the terminal device located at the lifting starting point, and when the target tower crane is controlled to reach the lifting end point according to the second planned path, an authority transfer instruction is sent to the terminal device located at the lifting end point.

In another implementation, when the lifting starting point and the lifting end point are sent respectively by different terminal devices, and the first planned path and the second planned path are determined in stages, when the target tower crane is controlled to reach the lifting starting point according to the first planned path, an authority transfer instruction is sent to the terminal device located at the lifting starting point; when the tower crane edge controller receives the updated lifting requirement sent by the scheduling platform at the lifting starting point, the second planned path from the lifting starting point to the lifting end point is determined according to the updated lifting requirement, wherein the updated lifting requirement includes the number of the lifting end point and the target tower crane; when it is determined that the distance between the target tower crane and the lifting starting point exceeds the preset distance, an authority revocation transfer instruction is sent to the terminal device located at the lifting starting point, and when the target tower crane is controlled to reach the lifting end point according to the second planned path, an authority transfer instruction is sent to the terminal device located at the lifting end point.

When it is determined that the target tower crane has reached the lifting end point and is hooked at the lifting end point, an authority revocation transfer instruction is sent to the terminal device located at the lifting end point, and a lifting demand completion notification is generated; a lifting demand completion notification is sent to the dispatching platform.

Embodiment 6

FIG8 is a flow chart of a tower crane intelligent control method provided in Embodiment 6 of the present application. This embodiment is applied to the dispatching platform in the tower crane intelligent control system in the above embodiments, and can be applied to the case of intelligently controlling the tower crane. As shown in FIG8 , the method includes the following steps:

Step S301, receiving a hoisting request sent by a terminal device.

The lifting requirement includes at least one lifting target point. The lifting requirement includes a lifting start point and a lifting end point, or the lifting requirement includes a lifting start point, or the lifting requirement includes a lifting end point. In addition, the lifting requirement may also include the number of the target tower crane.

Step S302, determine the target tower crane according to the lifting requirements, and send the lifting requirements to the tower crane edge controller associated with the target tower crane, so that the tower crane edge controller determines the planned path according to the lifting requirements, and controls the target tower crane to reach the lifting target point according to the planned path, and sends an authority transfer instruction to the terminal device, obtains control over the target tower crane through the terminal device according to the authority transfer instruction, and sends a lifting instruction to the target tower crane based on the control right, so as to control the target tower crane to perform the lifting work according to the lifting instruction.

Determining a target tower crane according to the lifting demand includes: obtaining the operating status of each tower crane in the tower crane cluster, the operating status includes an idle state and a non-idle state, selecting a tower crane closest to the lifting target point from the tower cranes in the idle state, and using the selected tower crane as the target tower crane, or directly determining the target tower crane according to the target tower crane number.

In one implementation, when the lifting requirement does not contain the target crane number, the dispatching platform can communicate with each crane in the crane cluster and obtain the operating status, current location and surrounding environment information of each crane. The operating status includes idle state and non-idle state. If the request is completed in time, the tower crane closest to the lifting target point will be selected from the idle tower cranes. When the tower crane that is idle and closest to the lifting target point is determined according to the position information, it will be used as the target tower crane.

In another implementation, when the lifting demand includes the target crane number, the target crane can be directly determined according to the target crane number. For example, when it is determined that the target crane number included in the lifting demand is number 3, the crane numbered 3 is directly used as the target crane. However, for the method directly specified by the user, there will be a situation where the target crane is in a non-idle state. For example, although the tower crane numbered 3 is determined as the target crane, the target crane is in a non-idle state at this time, that is, it is in operation. At this time, the dispatch center cannot dispatch the tower crane in a non-idle state, but can only receive the demand. Therefore, in this case, the lifting demand will be temporarily stored in the list of tasks to be executed. When it is determined that the target crane numbered 3 is converted to an idle state, the lifting demand will be sent to the tower crane edge controller associated with the target crane.

The method also includes: when it is determined that the target tower crane is located between the lifting start point and the lifting end point, sending an authority allocation instruction to the terminal device so that the terminal device obtains the operation control right for the target tower crane according to the authority allocation instruction, and sending a motion instruction to the target tower crane based on the operation control right to control the target tower crane to move according to the motion instruction.

When the tower crane edge controller sends an authority retraction transfer instruction to the terminal device and controls the target tower crane to continue to operate according to the remaining planned path, the dispatching platform plays a core supervisory and control role in the entire lifting process. The dispatching platform corresponds to remote control, the tower crane edge controller corresponds to automatic driving, and the terminal device corresponds to fine-tuning. Therefore, the dispatching platform, the tower crane edge controller and the terminal device have lower control authority over the target tower crane. And when the terminal device fine-tunes the target tower crane to avoid risks, it is the dispatching platform that sends the authority allocation instruction to the terminal device. The terminal device is set to obtain the operation control right for the target tower crane according to the authority allocation instruction, and sends motion instructions to the target tower crane based on the operation control right, so that the target tower crane moves according to the motion instructions, so that the user can fine-tune the operation process of the target tower crane through the terminal device.

After determining the target tower crane according to the lifting requirements and sending the lifting requirements to the tower crane edge controller associated with the target tower crane, it also includes: receiving the lifting requirement completion notification sent by the tower crane edge controller; according to the lifting requirement completion notification, deleting the corresponding lifting task, wherein the lifting task is established according to the lifting requirements.

The various forms of processes shown above can be used to reorder, add or delete steps. For example, the multiple steps recorded in this application can be executed in parallel, sequentially or in different orders, as long as the expected results of the technical solution of this application can be achieved, and this document is not limited here.

Claims

A tower crane intelligent control system comprises: a dispatching platform (20), a terminal device (10) and a tower crane edge controller (30);

The terminal device (10) is configured to send a hoisting requirement to the dispatching platform (20), wherein the hoisting requirement includes at least one hoisting target point;

The dispatching platform (20) is configured to determine a target tower crane according to the hoisting requirement, and send the hoisting requirement to a tower crane edge controller (30) associated with the target tower crane;

The tower crane edge controller (30) is configured to determine a planned path according to the hoisting requirement, and to control the target tower crane to reach the hoisting target point according to the planned path, and to send a permission transfer instruction to the terminal device (10);

The terminal device (10) is further configured to obtain control rights for the target tower crane according to the authority transfer instruction, and to send a hoisting instruction to the target tower crane based on the control rights, so that the target tower crane performs the hoisting work according to the hoisting instruction.
The system according to claim 1, wherein the tower crane edge controller (30) is configured to control the target tower crane to reach the lifting target point according to the planned path in the following manner to send a permission transfer instruction to the terminal device:

When it is determined that the distance between the target tower crane and the lifting target point is less than a preset distance, an authority transfer instruction is sent to the terminal device (10).
The system according to claim 2, wherein the terminal device (10) is configured to obtain the control right for the target tower crane according to the authority transfer instruction in the following manner, and send a hoisting instruction to the target tower crane based on the control right, so that the target tower crane performs the hoisting work according to the hoisting instruction:

A transfer instruction is issued according to the authority to obtain control over the target tower crane, and a hook lowering instruction is sent to the target tower crane based on the control right, so that the target tower crane performs the hook lowering hoisting work according to the hook lowering instruction, or a hook lifting instruction is sent to the target tower crane based on the control right, so that the target tower crane performs the hook lifting hoisting work according to the hook lifting instruction.
According to the system of claim 1, the tower crane edge controller (30) is further configured to send an authority revocation transfer instruction to the terminal device (10) when it is determined that the distance between the target tower crane and the lifting target point exceeds a preset distance.
According to the system of claim 4, the tower crane edge controller (30) is further configured to determine whether the target tower crane has completed the planned path after sending the permission reclaim transfer instruction to the terminal device (10), and in response to the target tower crane having completed the planned path, send a lifting demand completion notification to the dispatching platform (20), and in response to the target tower crane not having completed the planned path, send a lifting demand completion notification to the dispatching platform (20). Plan a path, and control the target tower crane to continue running along the remaining planned path.
The system according to claim 1, wherein the lifting requirement includes a lifting start point and a lifting end point, wherein the terminal device (10) is located at the lifting start point.
The system according to claim 6, wherein the tower crane edge controller (30) is configured to determine a planned path according to the hoisting requirement in the following manner, and to control the target tower crane to reach the hoisting target point according to the planned path, and to send a permission transfer instruction to the terminal device (10):

A first planned path from the current position to the lifting starting point and a second planned path from the lifting starting point to the lifting end point are determined according to the lifting demand, and when the target tower crane is controlled to arrive at the lifting starting point according to the first planned path, an authority transfer instruction is sent to a terminal device (10) located at the lifting starting point.
According to the system of claim 7, the tower crane edge controller (30) is further configured to send an authority revocation transfer instruction to the terminal device (10) located at the lifting starting point when it is determined that the distance between the target tower crane and the lifting starting point exceeds a preset distance, and to send an authority issuance transfer instruction to the terminal device (10) located at the lifting end point when the target tower crane is controlled to reach the lifting end point according to the second planned path.
The system according to claim 1, wherein the hoisting requirement includes a hoisting starting point, wherein the terminal device (10) is located at the hoisting starting point.
The system according to claim 9, wherein the tower crane edge controller (30) is configured to determine a planned path according to the hoisting requirement in the following manner, and to control the target tower crane to reach the hoisting target point according to the planned path, and to send a permission transfer instruction to the terminal device (10):

A first planned path from the current position to the lifting starting point is determined according to the lifting demand, and when the target tower crane is controlled to reach the lifting starting point along the first planned path, an authority transfer instruction is sent to a terminal device (10) located at the lifting starting point.
According to the system of claim 10, the terminal device (10) is further configured to send an updated lifting requirement to the scheduling platform (20), wherein the updated lifting requirement includes a lifting end point and a number of the target tower crane, and wherein the terminal device (10) is located at the lifting end point.
According to the system of claim 11, the tower crane edge controller (30) is further configured to determine a second planned path from the lifting starting point to the lifting end point according to the updated lifting demand, and when it is determined that the distance between the target tower crane and the lifting starting point exceeds a preset distance, send an authority revocation transfer instruction to the terminal device (10) located at the lifting starting point, and when the target tower crane is controlled to reach the lifting end point according to the second planned path, send an authority issuance transfer instruction to the terminal device (10) located at the lifting end point.
According to the system of claim 8 or 12, the tower crane edge controller (30) is further configured to send an authority revocation transfer instruction to the terminal device (10) located at the lifting end point when it is determined that the target tower crane has reached the lifting end point and is hooked at the lifting end point, and send a lifting demand completion notification to the scheduling platform (20).
The system according to claim 8 or 12, wherein the dispatching platform (20) is further configured to send a permission allocation instruction to the terminal device (10) when it is determined that the target tower crane is located between the lifting start point and the lifting end point;

The terminal device (10) is configured to obtain the operation control right for the target tower crane according to the authority allocation instruction, and send a motion instruction to the target tower crane based on the operation control right, so that the target tower crane moves according to the motion instruction.
The system according to claim 1, wherein the dispatching platform (20) is configured to determine the target tower crane according to the lifting requirement in the following manner:

Obtaining the operating status of each tower crane in the tower crane cluster, the operating status including an idle state and a non-idle state, selecting a tower crane closest to the hoisting target point from the tower cranes in the idle state, and using the selected tower crane as the target tower crane, or,

The lifting requirement also includes a target tower crane number, and the target tower crane is directly determined according to the target tower crane number.
A tower crane intelligent control method, applied to terminal equipment, comprising:

Sending a hoisting requirement to a dispatching platform, so that the dispatching platform determines a target tower crane according to the hoisting requirement, and sends the hoisting requirement to a tower crane edge controller associated with the target tower crane;

Receiving an authority transfer instruction sent by the tower crane edge controller, wherein the authority transfer instruction is generated when the tower crane edge controller determines a planned path according to the hoisting requirement and controls the target tower crane to reach the hoisting target point according to the planned path;

The control right for the target tower crane is acquired according to the authority transfer instruction, and a hoisting instruction is sent to the target tower crane based on the control right, so that the target tower crane performs the hoisting work according to the hoisting instruction.
The method according to claim 16, wherein the receiving the authority transfer instruction sent by the tower crane edge controller comprises:

Receive the authority transfer instruction sent by the tower crane edge controller, wherein the authority transfer instruction is generated when the tower crane edge controller determines that the distance between the target tower crane and the lifting target point is less than a preset distance.
The method according to claim 17, wherein the obtaining of the target according to the permission transfer instruction The control right of the target tower crane and sending a hoisting instruction to the target tower crane based on the control right include:

Issue a transfer instruction according to the authority to obtain control over the target crane;

Based on the control right, a hook lowering instruction is sent to the target tower crane so that the target tower crane performs the hook lowering hoisting work according to the hook lowering instruction, or, based on the control right, a hook lifting instruction is sent to the target tower crane so that the target tower crane performs the hook lifting hoisting work according to the hook lifting instruction.
The method according to claim 17, further comprising:

Receive the authority reclaim transfer instruction sent by the tower crane edge controller, wherein the authority reclaim transfer instruction is generated when the tower crane edge controller determines that the distance between the target tower crane and the lifting target point exceeds a preset distance.
The method according to claim 16, wherein the lifting requirement includes a lifting start point and a lifting end point, or the lifting requirement includes a lifting start point, or the lifting requirement includes a lifting end point.
The method according to claim 20, wherein the lifting requirement also includes the serial number of the target tower crane.
The method according to claim 20, further comprising:

Receiving an authority allocation instruction sent by the dispatching platform, wherein the authority allocation instruction is generated when the dispatching platform determines that the target tower crane is located between the hoisting starting point and the hoisting end point;

The operation control right for the target tower crane is acquired according to the authority allocation instruction, and a motion instruction is sent to the target tower crane based on the operation control right, so that the target tower crane moves according to the motion instruction.
A tower crane intelligent control method, applied to a tower crane edge controller, comprising:

Receiving a hoisting requirement sent by a scheduling platform, wherein the hoisting requirement is sent by a terminal device to the scheduling platform, and the hoisting requirement includes at least one hoisting target point;

Determine the planned path according to the lifting requirements;

When the associated target tower crane is controlled to reach the hoisting target point according to the planned path, an authority transfer instruction is sent to the terminal device so that the terminal device obtains 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 perform the hoisting work according to the hoisting instruction.
The method according to claim 23, wherein the lifting requirements include a lifting starting point and a lifting Install the end point,

The determining of the planned path according to the hoisting requirement includes:

A first planned path from the current position to the lifting starting point and a second planned path from the lifting starting point to the lifting end point are determined according to the lifting demand.
The method according to claim 24, wherein when the target tower crane associated with the control reaches the hoisting target point according to the planned path, sending a permission transfer instruction to the terminal device comprises:

When the target tower crane is controlled to arrive at the lifting starting point according to the first planned path, an authority transfer instruction is sent to a terminal device located at the lifting starting point;

When it is determined that the distance between the target tower crane and the lifting starting point exceeds the preset distance, an authority transfer instruction is sent to the terminal device located at the lifting starting point, and when the target tower crane is controlled to reach the lifting end point according to the second planned path, an authority transfer instruction is sent to the terminal device located at the lifting end point.
The method according to claim 23, wherein the lifting requirements include a lifting starting point,

The determining of the planned path according to the hoisting requirement includes:

A first planned path from the current position to the lifting starting point is determined according to the lifting requirement.
The method according to claim 26, wherein when the target tower crane associated with the control reaches the hoisting target point according to the planned path, sending a permission transfer instruction to the terminal device comprises:

When the target tower crane is controlled to arrive at the lifting starting point according to the first planned path, an authority transfer instruction is sent to a terminal device located at the lifting starting point;

When receiving the updated lifting requirement sent by the scheduling platform at the lifting starting point, determining a second planned path from the lifting starting point to the lifting end point according to the updated lifting requirement, wherein the updated lifting requirement includes the number of the lifting end point and the target tower crane;

When it is determined that the distance between the target tower crane and the lifting starting point exceeds the preset distance, an authority transfer instruction is sent to the terminal device located at the lifting starting point, and when the target tower crane is controlled to reach the lifting end point according to the second planned path, an authority transfer instruction is sent to the terminal device located at the lifting end point.
The method according to claim 24 or 26, further comprising:

When it is determined that the target tower crane has reached the lifting end point and is hooked at the lifting end point, a permission reclaiming transfer instruction is sent to a terminal device located at the lifting end point, and a lifting demand completion notification is generated;

Sending a notification of completion of the lifting requirement to the dispatching platform.
A tower crane intelligent control method, applied to a dispatching platform, comprising:

Receiving a hoisting requirement sent by a terminal device, wherein the hoisting requirement includes at least one hoisting target point;

Determine a target tower crane according to the hoisting requirements, and send the hoisting requirements to a tower crane edge controller associated with the target tower crane, so that the tower crane edge controller determines a planned path according to the hoisting requirements, and controls the target tower crane to reach the hoisting target point along the planned path, sends an authority transfer instruction to the terminal device, obtains control over the target tower crane according to the authority transfer instruction through the terminal device, and sends a hoisting instruction to the target tower crane based on the control right, so as to control the target tower crane to perform hoisting work according to the hoisting instruction.
The method according to claim 29, wherein the lifting requirement includes a lifting starting point and a lifting end point, or the lifting requirement includes a lifting starting point, or the lifting requirement includes a lifting end point.
The method according to claim 29, wherein the lifting requirement further includes a serial number of a target tower crane;

The step of determining a target tower crane according to the hoisting requirement comprises:

The operating status of each tower crane in the tower crane cluster is obtained, where the operating status includes an idle state and a non-idle state. The tower crane closest to the lifting target point is selected from the tower cranes in the idle state, and the selected tower crane is used as the target tower crane, or the target tower crane is directly determined according to the target tower crane number.
The method according to claim 30, further comprising:

When it is determined that the target tower crane is located between the lifting start point and the lifting end point, an authority allocation instruction is sent to the terminal device so that the terminal device obtains the operation control right for the target tower crane according to the authority allocation instruction, and sends a motion instruction to the target tower crane based on the operation control right to control the target tower crane to move according to the motion instruction.
The method according to claim 29, after determining the target tower crane according to the lifting requirement and sending the lifting requirement to the tower crane edge controller associated with the target tower crane, further comprises:

Receiving a lifting requirement completion notification sent by the tower crane edge controller;

According to the lifting requirement completion notification, the corresponding lifting task is deleted, wherein the lifting task is established according to the lifting requirement.