WO2024094180A1 - 塔吊手持终端控制方法、装置、手持终端和存储介质 - Google Patents

塔吊手持终端控制方法、装置、手持终端和存储介质 Download PDF

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Publication number
WO2024094180A1
WO2024094180A1 PCT/CN2023/129632 CN2023129632W WO2024094180A1 WO 2024094180 A1 WO2024094180 A1 WO 2024094180A1 CN 2023129632 W CN2023129632 W CN 2023129632W WO 2024094180 A1 WO2024094180 A1 WO 2024094180A1
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WO
WIPO (PCT)
Prior art keywords
tower crane
hook
user
target
handheld terminal
Prior art date
Application number
PCT/CN2023/129632
Other languages
English (en)
French (fr)
Inventor
郭丽萍
吕志勇
Original Assignee
北京东土科技股份有限公司
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Application filed by 北京东土科技股份有限公司 filed Critical 北京东土科技股份有限公司
Publication of WO2024094180A1 publication Critical patent/WO2024094180A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B66C13/44—Electrical transmitters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control

Definitions

  • the present application relates to the field of intelligent control technology, for example, to a tower crane handheld terminal control method, device, handheld terminal and storage medium.
  • 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.
  • 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.
  • both the remote cockpit and the handheld control panel have strict requirements on the experience and technology of the TSA operator.
  • the handheld control panel requires the TSA operator to master the ground environment in advance, while the remote cockpit requires the construction site to provide a dedicated working area for the TSA operator to operate. Therefore, the remote operation method cannot meet the actual operation needs of users.
  • the present application provides a tower crane handheld terminal control method, device, handheld terminal and storage medium to achieve intelligent control of the tower crane.
  • a tower crane handheld terminal control method which is applied to the handheld terminal and includes:
  • An operation instruction is generated according to a trigger operation of the user on the first human-computer interaction module, and according to the operation instruction, the hook is guided to operate in an area from the operating position of the hook to the user-specified position when the control right is acquired.
  • a tower crane handheld terminal control device comprising:
  • a control authority transfer module configured to obtain control over the target tower crane
  • the first operation control module of the tower crane is configured to lower the hook of the target tower crane within the specified safety area.
  • a first type of operation instruction is generated according to a trigger operation of the user on the first human-computer interaction module, and the hook of the target tower crane is guided to move to a user-specified position according to the first type of operation instruction, so that the user completes the handling operation of the hoisted object on the hook at the specified position;
  • the second operation control module of the tower crane is configured to generate a second type of operation instruction according to the user's triggering operation on the first human-computer interaction module when the hook of the target tower crane rises in the designated safety area, and guide the hook of the target tower crane that has completed the hooking or unhooking out of the designated safety area according to the second type of operation instruction.
  • a handheld terminal comprising:
  • the memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the above-mentioned tower crane handheld terminal control method.
  • a computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the above-mentioned tower crane handheld terminal control method when executed by a processor.
  • FIG1A is a flow chart of a tower crane handheld terminal control method provided in Embodiment 1 of the present application.
  • FIG1B is a flow chart of another tower crane handheld terminal control method provided in Embodiment 1 of the present application.
  • FIG2 is a schematic diagram of an operation interface of a handheld terminal provided in Embodiment 1 of the present application.
  • FIG3 is an interactive schematic diagram of a tower crane handheld terminal control process provided in Embodiment 1 of the present application.
  • FIG4 is a flow chart of a tower crane handheld terminal control method provided in Embodiment 2 of the present application.
  • FIG5 is an interactive schematic diagram of a connectivity status detection provided in Embodiment 2 of the present application.
  • FIG6 is a schematic diagram of the structure of a tower crane handheld terminal control device provided in Example 3 of the present application.
  • FIG7 is a schematic diagram of the structure of another tower crane handheld terminal control device provided in Example 3 of the present application.
  • FIG8 is a schematic diagram of the structure of a handheld terminal provided in Embodiment 4 of the present application.
  • FIG1A is a flow chart of a tower crane handheld terminal control method provided in the first embodiment of the present application.
  • the present embodiment is applicable to the control of a tower crane.
  • the method can be executed by a tower crane handheld terminal control device in the embodiment of the present application.
  • the device can be implemented in the form of hardware and/or software, and the device can be configured in a terminal device. As shown in FIG1A , the method includes:
  • Step S101A obtaining control over the target tower crane during the operation of the hook of the target tower crane.
  • Step S102A generating an operation instruction according to the user's triggering operation on the first human-computer interaction module, and guiding the hook to run in the area from the running position of the hook to the user-specified position when obtaining control according to the operation instruction.
  • the handheld terminal can obtain the control right of the target tower crane at any time during the operation of the hook, or allow the handheld terminal to obtain the control right when the hook runs to a certain area, or the controller of the target tower crane controls the operation of the hook, that is, the tower crane controller automatically controls the operation of the hook.
  • the controller of the target tower crane controls the operation of the hook, that is, the tower crane controller automatically controls the operation of the hook.
  • the user operates the handheld terminal to obtain the control right from the controller of the target tower crane.
  • the operation process of the hook can be the hook raising stage or the hook lowering stage.
  • the user-specified position can be the hoisting target point, which can be the location of the hoisting object in the hook raising stage, and can be the location where the hoisting object is placed in the hook lowering stage.
  • the user can generate operation instructions for controlling the operation of the hook through the first human-computer interaction module provided on the handheld terminal, and guide the hook to operate within the area from the current operating position of the hook to the user-specified position when obtaining control, for example, controlling the hook to operate upward, downward, forward, backward, left or right within the area.
  • the technical solution of the embodiment of the present application does not require special scenarios and strict user skills.
  • the operation of the hook can be controlled by operating the handheld terminal.
  • the control area of the handheld terminal is the operating position of the hook when the handheld terminal obtains authority to the user.
  • the area at the designated location improves the operating efficiency of the tower crane and meets the actual operating needs of users.
  • FIG1B is a flow chart of another tower crane handheld terminal control method provided in Embodiment 1 of the present application. As shown in FIG1B , the method includes:
  • Step S101B when the hook reaches the designated safety area, obtain control over the target tower crane.
  • the designated safety area can be a section of the hook's running path at a certain height above the ground, which can be determined based on the actual situation on the construction site. After the designated safety area is set, the handheld terminal can be allowed to gain control of the hook.
  • the target tower crane Before obtaining control over the target tower crane, it also includes: generating a lifting requirement based on the user's triggering operation on the second human-computer interaction module, wherein the lifting requirement includes a lifting target point; sending the lifting requirement to a target tower crane controller with a pre-established communication connection, so that the target tower crane controller determines a planned path based on the lifting requirement, and controls the target tower crane to run toward the lifting target point along the planned path.
  • the second human-computer interaction module displays a hoisting request interaction label, wherein the hoisting request interaction label includes a hook-up request interaction label or a hook-down request interaction label.
  • the operation interface of the handheld terminal includes multiple human-computer interaction modules, and each human-computer interaction module displays a corresponding interaction label.
  • the interaction module in the present embodiment can be in the form of a button.
  • the human-computer interaction module can include a hook application button, a drop application button, a control request button, or a control end button.
  • the form of the interaction label displayed on the human-computer interaction module is not limited in the present embodiment, and the user can trigger the human-computer interaction module on the interface by pressing.
  • the handheld terminal generates corresponding operation instructions according to the human-computer interaction module triggered by the user, and the label displayed by the human-computer interaction module can be used to show the function of the module to the user.
  • the tower crane control process can be implemented with reference to the interactive schematic diagram of the tower crane control process shown in Figure 3.
  • the user at point A can hook the tower crane hook by controlling the handheld terminal A, and similarly, the user at point B can unhook the tower crane hook by controlling the handheld terminal B.
  • handheld terminal A When the user at point A presses the application button of handheld terminal A, handheld terminal A will start the positioning module according to the user's operation, and realize automatic positioning through the positioning module, and obtain the lifting target point, such as point A, according to the positioning result. In addition, handheld terminal A will also obtain the tower crane controller identifier 1 of the target tower crane controller bound to channel 1 and its own handheld terminal identifier 1 according to the binding relationship, so as to generate the lifting demand according to the lifting target point - point A, the target tower crane controller identifier - tower crane controller 1 and the handheld terminal identifier - handheld terminal 1. The lifting demand is sent to the tower crane controller 1 with which the communication connection is established in advance.
  • the tower crane controller 1 When the tower crane controller 1 determines that the lifting demand has been received, it will send a reply confirmation message to the handheld terminal A. If the handheld terminal does not receive the feedback reply confirmation message within the preset time, it will retransmit 3. times to ensure that the tower crane controller can accurately receive the message sent by the handheld terminal A. In addition, when the tower crane controller 1 receives the lifting demand, it will determine the planned path according to the obtained lifting target point, and control the associated target tower crane to run to point A according to the planned path.
  • Obtaining control over a target tower crane includes: when the target tower crane runs toward a lifting target point according to a planned path, generating an authority acquisition request based on a user's triggering operation on a third human-computer interaction module; and sending the authority acquisition request to a target tower crane controller, so that the target tower crane controller transfers control of the associated target tower crane to a handheld terminal according to the authority acquisition request.
  • the third human-computer interaction module displays a control request interaction tag or a permission acquisition request tag.
  • the handheld terminal can generate a permission acquisition request according to the user's trigger operation on the third human-computer interaction module, and send the permission acquisition request to the target tower crane controller to obtain the control right for the target tower crane.
  • the control right in this embodiment can be obtained when the hook of the target tower crane runs to the hoisting target point, or it can be obtained before the hook of the target tower crane runs to the hoisting target point, and the timing of obtaining the control right is not limited, as long as it is at any time during the process of the target tower crane controller determining the planned path to run to the hoisting target point.
  • the user's handheld terminal can obtain the control right of the target tower crane and directly control the target tower crane at an ant speed based on the control right.
  • the user triggers the control request interaction button on the operation interface, and the handheld terminal A generates a permission acquisition request according to the user's operation, and sends the generated permission acquisition request to the tower crane controller 1.
  • the handheld terminal identifier and the target tower crane controller identifier bound to channel 1 are also sent to the tower crane controller 1.
  • the function of sending the handheld terminal identifier is to inform the tower crane controller 1 who sent the current permission acquisition request
  • the function of sending the target tower crane controller identifier is to facilitate the tower crane controller 1 to verify whether the permission acquisition request is sent to itself.
  • the tower crane controller 1 When the tower crane controller 1 determines that the permission acquisition request sent by terminal A has been received, it will send a permission transfer instruction to the handheld terminal A to transfer the control right of the target tower crane associated with the tower crane controller 1 to the handheld terminal A. And when the handheld terminal A does not receive the reply information within the preset time, it will retransmit the request 3 times to ensure that the tower crane controller 1 can accurately receive the request sent by the handheld terminal A. When it is determined that the reply information of the tower crane controller is still not received after retransmission 3 times, an alarm will be issued on the terminal side to prompt the user to immediately repair the handheld terminal or the communication network.
  • Step S102B during the process of the hook of the target tower crane descending from the designated safety area, a first type of operation instruction is generated according to the user's triggering operation on the first human-computer interaction module, and the first type of operation instruction is executed according to the first type of operation instruction.
  • the hook of the target tower crane is guided to operate to the position specified by the user, so that the user can complete the processing operation of the hoisted object on the hook at the specified position.
  • the handheld terminal after the handheld terminal obtains the control right, it first guides the hook to descend from the current operating position to the user-specified position, then raises the hook from the user-specified position to the designated safety area, and continues to guide the hook out of the designated safety area. After guiding it out of the designated safety area, the control right is handed over to the tower crane controller. After the hook descends from the current operating position to the user-specified position, the user can complete the operation of hanging the hoisting object on the hook, or complete the operation of removing the hoisting object from the hook.
  • the process of the hook rising from the user-specified position to the designated safety area can be the process of transporting the hoisting object to the position where the hoisting object is placed, or it can be the process of retracting the hook and placing it in the designated position after the hoisting is completed.
  • This method is different from the automatic control of the hook operation by the tower crane controller.
  • the automatic control of the hook by the tower crane controller is that the tower crane controller plans the path and the tower crane controller controls the hook operation according to the planned path.
  • the handheld terminal controls the hook
  • the running path of the hook is controlled by the handheld terminal.
  • the first type of operation instructions are used to control the movement of the lifting mechanism or slewing mechanism of the target tower crane within the designated safety area, so that the hook moves up, down, turns right, turns left, forward or backward, and controls the movement of the luffing mechanism of the target tower crane to change the amplitude of the hook movement.
  • the first type of operation instructions are also used to control the movement of the luffing mechanism of the target tower crane in the designated safety area to change the amplitude of the hook movement.
  • this embodiment After obtaining the control right for the target tower crane, this embodiment will determine the current operating position of the hook when obtaining the control right, and the handheld terminal will also obtain the user-specified position input by the user.
  • the user-specified position refers to the current position where the hoisted object to be lifted is placed
  • the user-specified position refers to the position where the hoisted object that has been lifted is to be placed. This embodiment does not limit the user-specified position.
  • the processing operations performed by the user on the hoisting items at the designated location of the hook are different for different scenarios.
  • the processing operation is to load the hoisting items onto the hook;
  • the processing operation is to unload the hoisting items from the hook.
  • the user can control the operation of the target crane in the designated safety area by manipulating the human-computer interaction module on the handheld terminal.
  • the user can control the target tower crane by pressing the first human-computer interaction module on the operation interface, such as the up button, down button, left return button, right return button, front button and back button.
  • the first human-computer interaction module such as the up button, down button, left return button, right return button, front button and back button.
  • a down button code is generated according to the user's trigger operation on the down button, and the down button code is used as a down operation instruction, and the down operation instruction is sent to the tower crane controller 1 by wireless communication, and the tower crane controller 1 controls the associated tower crane to move downward with point A as the starting point according to the acquired down operation instruction.
  • the control of the tower crane controller to move downward is used as an example for explanation.
  • the user can also control the target tower crane to perform actions such as up, left rotation, right rotation, front and back by manipulating the first human-computer interaction module on the handheld terminal, and finally guide the target tower crane to the location of the hoisted object by fine-tuning.
  • the target tower crane runs to the location of the hoisted object, the user can operate to hook the hoisted object to the target tower crane to complete the hooking operation of the hoisted object.
  • Step S103B when the hook of the target tower crane rises from the user-specified position to the specified safety area, a second type of operation instruction is generated according to the user's trigger operation on the first human-computer interaction module, and the hook of the target tower crane is guided out of the specified safety area according to the second type of operation instruction.
  • a second type of operation instruction is generated according to the user's triggering operation on the first human-computer interaction module, and the target tower crane that has completed hooking or unhooking is guided out of the designated safety area according to the second type of operation instruction, including: generating a second type of key code according to the user's triggering operation on the first human-computer interaction module, and using the second type of key code as the second type of operation instruction; sending the second type of operation instruction to the target tower crane controller by wireless communication, so that the target tower crane controller guides the target tower crane that has completed hooking or unhooking out of the designated safety area according to the second type of operation instruction.
  • the second type of operation instructions are used to control the movement of the lifting mechanism or slewing mechanism of the target tower crane within the designated safety area, so that the hook moves up, down, turns right, turns left, forward or backward, and controls the movement of the luffing mechanism of the target tower crane to change the amplitude of the hook movement.
  • the second type of operation instructions are also used to control the movement of the luffing mechanism of the target tower crane in the designated safety area to change the amplitude of the hook movement.
  • the user can continue to control the target tower crane to rise in the designated safe area by operating the handheld terminal.
  • the user can continue to control the target tower crane by pressing the first human-computer interaction module on the operation interface, such as the up button, down button, left return button, right return button, front button and back button.
  • an up button code is generated according to the user's trigger operation on the up button, and the up button code is used as an up operation instruction, and the up operation instruction is sent to the tower crane controller 1 by wireless communication, and the tower crane controller 1 controls the hook of the associated tower crane to move upward based on the acquired up operation instruction with the location of the hoisted object as the starting point, and finally guides the target tower crane out of the designated safe area through fine-tuning.
  • the method also includes: generating an emergency stop instruction according to the user's triggering operation on the fourth human-computer interaction module;
  • the emergency stop command is sent to the target tower crane controller, so that the target tower crane controller terminates the hoisting work of the target tower crane according to the emergency stop command.
  • the fourth human-machine interaction module displays an emergency stop operation interaction label.
  • the emergency stop operation interaction label can be an emergency stop operation interaction button.
  • the user can also control the target tower crane to stop running by triggering the emergency stop operation button on the operation interface.
  • the user will press the emergency stop operation button, and the handheld terminal A will generate an emergency stop command according to the user's triggering operation of the emergency stop operation interactive button, and send the emergency stop command to the tower crane controller 1, and the tower crane controller 1 will terminate the hoisting work of the target tower crane according to the emergency stop command, thereby ensuring the safety of the hoisting work.
  • the method also includes: generating a permission abandonment request according to a user's triggering operation on a fifth human-computer interaction module; sending the permission abandonment request to a target tower crane controller, so that the target tower crane controller takes back control of the target tower crane according to the permission abandonment request.
  • the fifth human-computer interaction module displays a control end interaction tag or a permission abandonment request tag.
  • the user can trigger the control end case on the operation interface to transfer the control of the target crane. For example, when the target crane completes the hook and runs to point A again, a permission abandonment request is generated according to the user's operation of the control end button, and the permission abandonment request is sent to the crane controller 1.
  • the crane controller 1 receives the permission abandonment request, it will send a permission revocation instruction to the handheld terminal A to reclaim the control of the target crane.
  • a tower crane controller can be bound to multiple handheld terminals at the same time, after the hooked target tower crane is guided out of the designated safe area through handheld terminal A, the user at point B can continue to interact with the tower crane controller 1 by controlling handheld terminal B to guide the target tower crane associated with the tower crane controller 1 to run to point B, so as to unhook the hoisted objects from the target tower crane.
  • handheld terminal B will start the positioning module according to the user's operation, and realize automatic positioning through the positioning module, and obtain the hoisting target point, such as point B, according to the positioning result.
  • handheld terminal B Since handheld terminal B is also pre-bound to the tower crane controller, handheld terminal B will also obtain the tower crane controller identifier 1 and its own handheld terminal identifier 2 according to the binding relationship, so as to generate a hoisting demand according to the hoisting target point-point B, the target tower crane controller identifier-tower crane controller 1 and the handheld terminal identifier-handheld terminal 2, and send the hoisting demand to the tower crane controller 1 with which a communication connection has been established in advance. And the handheld terminal B will also reply to the tower crane controller 1 for confirmation. When the tower crane controller 1 receives a new lifting demand, it will plan a new planning path from point A to point B and control the associated The target tower crane runs toward point B according to the planned path.
  • the handheld terminal B After reaching the designated safety area above point B, the handheld terminal B will interact with the tower crane controller 1 to achieve ant speed control from the designated safety area to point B, so as to unhook the hoisted items hoisted from point A at point B.
  • the tower crane controller 1 For the drop crane scenario, after unloading the hoisted items from the hook of the target tower crane, in order to ensure the safety of the operating environment and avoid the hook of the target tower crane from hindering the operator, it is necessary to continue to press the first human-computer interaction module on the operation interface to control the hook of the target tower crane to move upward from point B, so as to guide the target tower crane out of the designated safety area until it is guided to the area where the hook is placed, thereby improving the safety of the operating site.
  • the ant speed control process in the new designated safety area involves the process of the target tower crane running to the hoisted item placement position according to the user's operating instructions during the descent process, and guiding the target tower crane that has completed the unhooking out of the new designated safety area according to the user's instructions during the ascent process.
  • the interaction process between the handheld terminal B and the tower crane controller 1 in the new designated safety area is roughly the same as the above-mentioned hooking process, so it will not be repeated in this embodiment.
  • the target tower crane can be controlled to complete the lifting task within a designated safe area by operating the handheld terminal, thereby improving the operating efficiency of the tower crane and meeting the actual operating needs of the user.
  • FIG4 is a flow chart of a tower crane handheld terminal control method provided in the second embodiment of the present application.
  • the first embodiment is based on the above embodiment.
  • a heartbeat mechanism is added to detect the connection status between the handheld terminal and the tower crane controller. As shown in FIG4, the method includes:
  • Step S201 obtaining control over a target tower crane.
  • Obtaining control over a target tower crane includes: when the target tower crane runs toward the lifting target point according to the planned path, generating an authority acquisition request based on a user's triggering operation of a control request button; sending the authority acquisition request to a target tower crane controller, so that the target tower crane controller transfers control of the associated target tower crane to a handheld terminal according to the authority acquisition request.
  • the second human-computer interaction module displays a hoisting request interaction tag, wherein the hoisting request interaction tag includes a hook-up request interaction tag or a hook-down request interaction tag.
  • the lifting requirement also includes a handheld terminal identifier and a target tower crane controller identifier; the lifting requirement is generated according to the user's trigger operation on the second human-computer interaction module, including: starting the positioning module for automatic positioning according to the user's trigger operation on the second human-computer interaction module, and obtaining the lifting target point according to the positioning result; obtaining the target tower crane controller identifier of the target tower crane controlled by the target channel bound to the target channel, and its own handheld terminal identifier; the lifting requirement is generated according to the lifting target point, the target tower crane controller identifier and the handheld terminal identifier.
  • the second human-computer interaction module Before generating the lifting demand according to the user's trigger operation on the second human-computer interaction module, it also includes: receiving a binding request sent by the tower crane controller, and obtaining the target channel identifier according to the binding request; performing channel binding interaction with the tower crane controller according to the target channel identifier to establish a binding relationship, wherein the binding relationship includes the correspondence between the handheld terminal identifier, the target channel identifier and the tower crane controller identifier.
  • the handheld terminal operation interface includes multiple channel buttons, and each channel button corresponds to a tower crane controller. Therefore, before the user generates an operation instruction by triggering the human-computer interaction module, the user needs to trigger the specified channel button and activate the specified channel button to select the tower crane controller. Since the handheld terminal can bind multiple tower crane controllers through different channels, only when the user selects the corresponding tower crane controller in advance by triggering the channel button can the generated operation instruction be accurately sent to the specified tower crane controller.
  • the handheld terminal when the handheld terminal is bound to the tower crane controller 1, the handheld terminal receives the binding request sent by the tower crane controller 1, and the binding request includes the tower crane controller identifier and the target handheld terminal identifier, wherein the target handheld terminal identifier is the identifier of the handheld terminal to be bound that is pre-entered in the tower crane controller by the backstage maintenance personnel.
  • the handheld terminal extracts the target handheld terminal identifier from the binding request and verifies the target handheld terminal identifier. The verification process is to compare the target handheld terminal identifier with the own handheld terminal identifier.
  • the target handheld terminal identifier is consistent with the own handheld terminal identifier, it is determined that the verification is passed and a verification pass prompt is generated, and the verification pass prompt is displayed to the user in the form of voice, and the user receives the target channel identifier 1 input by the human-computer interaction module according to the verification pass prompt, so as to perform channel binding interaction with the tower crane controller 1 according to the target channel identifier to establish a binding relationship. Only when the handheld terminal and the tower crane controller 1 establish a binding relationship, when the user needs to control the tower crane associated with the tower crane controller 1, he only needs to select the channel 1 button to activate the channel 1, and the command generated by the handheld terminal can be sent to the tower crane controller 1 through the activated channel 1.
  • Step S202 sending a heartbeat message to the target crane controller through the target channel at regular intervals.
  • FIG. 5 it is an interactive diagram of the connectivity status detection between the handheld terminal and the tower crane controller.
  • the handheld terminal A will send a heartbeat message to the tower crane controller 1 within a specified period, and at the same time as sending the heartbeat message, it will also send the handheld terminal identifier and the target tower crane controller identifier to the tower crane controller.
  • the tower crane controller determines that it has received the heartbeat message, it can determine that the communication status of the channel bound to the finger terminal is good, so the control instructions generated by the handheld terminal can be guaranteed to be accurately sent to the tower crane controller.
  • the method also includes: when it is determined that the handheld terminal fails, stopping sending the heartbeat message to the target tower crane controller, so that the target tower crane controller takes back the control right of the target tower crane according to the abnormal condition of the heartbeat message.
  • the heartbeat message is stopped from being sent to the tower crane controller 1.
  • the tower crane controller 1 determines that no heartbeat message is received within the specified time range, it can be determined that the handheld terminal A fails. If the communication connection between the two terminals is abnormal, in order to ensure the normal operation of the target tower crane, the control right of the target tower crane will be taken back, and the control mode can be switched to tower crane control.
  • the present implementation mode does not limit the method of transferring the control authority of the target tower crane when the heartbeat message is abnormal. As long as the normal operation of the target tower crane can be guaranteed, it is within the protection scope of the present application and is not limited in the present implementation mode.
  • Step S203 receiving a response message fed back by the target tower crane controller according to the heartbeat message.
  • handheld terminal A When the communication connection between handheld terminal A and the tower crane controller is normal, when handheld terminal A sends a heartbeat message to the tower crane controller 1, the tower crane controller 1 can generate a response message based on the received heartbeat message, and handheld terminal A can receive the response message sent by the tower crane controller 1, and the response message includes the target tower crane controller identifier.
  • the communication status of the channel can be detected between the handheld terminal and the tower crane controller, and when no heartbeat message or response message to the heartbeat message is detected within a certain period, such as three periods, the emergency stop function is implemented.
  • Step S204 When the hook of the target tower crane is lowered from the designated safety area, a first type of operation instruction is generated according to the user's triggering operation on the first human-computer interaction module, and according to the first type of operation instruction, starting from the operating position of the hook when the control is obtained, the hook of the target tower crane is guided to run to the user-designated position, so that the user can complete the processing operation of the hoisted items on the hook at the designated position.
  • a first type of operation instruction is generated according to a user's trigger operation on a first human-computer interaction module, and a target tower crane is guided to run to a user-specified position according to the first type of operation instruction, including: a first type of key code is generated according to the user's trigger operation on the first human-computer interaction module, and the first type of key code is used as a first type of operation instruction; the first type of operation instruction is sent to a target tower crane controller by wireless communication, so that the target tower crane controller guides the target tower crane to run to the user-specified position with the lifting target point as a starting point according to the first type of operation instruction.
  • Step S205 when the hook of the target tower crane rises from the user-specified position to the designated safety area, a second type of operation instruction is generated according to the user's trigger operation on the first human-computer interaction module, and the hook of the target tower crane is guided out of the designated safety area according to the second type of operation instruction.
  • a second type of operation instruction is generated according to the user's triggering operation on the first human-computer interaction module, and the target tower crane that has completed hooking or unhooking is guided out of the designated safety area according to the second type of operation instruction, including: generating a second type of key code according to the user's triggering operation on the first human-computer interaction module, and using the second type of key code as the second type of operation instruction; sending the second type of operation instruction to the target tower crane controller by wireless communication, so that the target tower crane controller guides the target tower crane that has completed hooking or unhooking out of the designated safety area according to the second type of operation instruction.
  • the target tower crane can be controlled in the designated safe area to complete the lifting task, thereby improving the operating efficiency of the tower crane and meeting the actual operating needs of the user.
  • the heartbeat mechanism can detect the communication status of the channel between the handheld terminal and the tower crane controller, and when communication anomalies are detected within a certain period, the controller control mode is switched to tower crane control, thereby ensuring the normal execution of the tower crane lifting work.
  • Fig. 6 is a schematic diagram of the structure of a tower crane handheld terminal control device provided in Example 3 of the present application.
  • Example 3 of the present application provides a tower crane handheld terminal control device, including: a control authority acquisition module 110, which is configured to acquire control authority for a target tower crane during the operation of the hook of the target tower crane; an operation control module 120, which is configured to generate an operation instruction according to a user's trigger operation on the first human-computer interaction module, and guide the hook to operate in an area from the operating position of the hook to the user-specified position when acquiring control authority according to the operation instruction.
  • a control authority acquisition module 110 which is configured to acquire control authority for a target tower crane during the operation of the hook of the target tower crane
  • an operation control module 120 which is configured to generate an operation instruction according to a user's trigger operation on the first human-computer interaction module, and guide the hook to operate in an area from the operating position of the hook to the user-specified position when acquiring control authority according to the operation instruction.
  • Fig. 7 is a schematic diagram of the structure of another tower crane handheld terminal control device provided in Embodiment 3 of the present application. As shown in Fig. 7 , the device comprises: a control authority acquisition module 310 , a tower crane first operation control module 320 , and a tower crane second operation control module 330 .
  • the control authority acquisition module 310 is configured to acquire the control right for the target tower crane when the hook reaches the designated safety area;
  • the first operation control module 320 of the tower crane is configured to generate a first type of operation instruction according to the user's trigger operation on the first human-computer interaction module during the process of the hook descending from the designated safety area, and guide the hook of the target tower crane to run to the user-specified position starting from the operating position of the hook when the control right is acquired according to the first type of operation instruction, so that the user can complete the processing operation of the hoisted items on the hook at the designated position;
  • the second operation control module 330 of the tower crane is configured to generate a second type of operation instruction according to the user's trigger operation on the first human-computer interaction module during the process of the hook ascending from the user-specified position to the designated safety area, and guide the hook out of the designated safety area according to the second type of operation instruction.
  • the device also includes: a lifting requirement generating module, configured to generate a lifting requirement according to a user's triggering operation on a second human-computer interaction module, wherein the lifting requirement includes a lifting target point; a lifting requirement sending module, configured to send the lifting requirement to a target tower crane controller with a pre-established communication connection, so that the target tower crane controller determines a planned path according to the lifting requirement, and controls the target tower crane to run toward the lifting target point along the planned path.
  • a lifting requirement generating module configured to generate a lifting requirement according to a user's triggering operation on a second human-computer interaction module, wherein the lifting requirement includes a lifting target point
  • a lifting requirement sending module configured to send the lifting requirement to a target tower crane controller with a pre-established communication connection, so that the target tower crane controller determines a planned path according to the lifting requirement, and controls the target tower crane to run toward the lifting target point along the planned path.
  • the second human-computer interaction module displays a check-up request interaction label or a check-down request interaction label.
  • the control authority acquisition module 310 is configured to move the target crane toward the lifting target point according to the planned path.
  • a permission acquisition request is generated; the permission acquisition request is sent to the target tower crane controller, so that the target tower crane controller transfers the control right of the associated target tower crane to the handheld terminal according to the permission acquisition request; the operating position of the hook when the permission acquisition request is sent is determined, and the designated safety area is determined according to the operating position of the hook.
  • the third human-computer interaction module displays a control request interaction tag or a permission acquisition request tag.
  • the first type of operation instruction or the second type of operation instruction is used to control the movement of the lifting mechanism or slewing mechanism of the target tower crane in a designated safety area, so that the hook moves upward, downward, slews right, slews left, forward or backward.
  • the first type of operation instructions or the second type of operation instructions are also used to control the movement of the luffing mechanism of the target tower crane in a designated safety area to change the magnitude of the movement luffing of the hook.
  • the first operation control module 320 of the tower crane and the second operation control module 330 of the tower crane are configured to generate the first type of operation instructions or the second type of operation instructions according to the user's triggering operation on the first human-computer interaction module in the following manner: generate a key code according to the user's triggering operation on the first human-computer interaction module, and use the key code as the first type of operation instruction or the second type of operation instruction; send the first type of operation instruction or the second type of operation instruction to the target tower crane controller by wireless communication.
  • the device also includes an emergency stop control module, which is configured to generate an emergency stop command according to the user's trigger operation on the fourth human-computer interaction module; and send the emergency stop command to the target tower crane controller to terminate the hoisting work of the target tower crane through the target tower crane controller according to the emergency stop command.
  • an emergency stop control module which is configured to generate an emergency stop command according to the user's trigger operation on the fourth human-computer interaction module; and send the emergency stop command to the target tower crane controller to terminate the hoisting work of the target tower crane through the target tower crane controller according to the emergency stop command.
  • the fourth human-computer interaction module displays an emergency stop operation interaction label.
  • the device also includes an authority reclaiming module, which is configured to generate an authority relinquishment request based on the user's triggering operation on the fifth human-computer interaction module; and send the authority relinquishment request to the target tower crane controller so that the target tower crane controller reclaims the control of the target tower crane based on the authority relinquishment request.
  • an authority reclaiming module which is configured to generate an authority relinquishment request based on the user's triggering operation on the fifth human-computer interaction module; and send the authority relinquishment request to the target tower crane controller so that the target tower crane controller reclaims the control of the target tower crane based on the authority relinquishment request.
  • the fifth human-computer interaction module displays a control end interaction tag or a permission abandonment request tag.
  • the device also includes a heartbeat detection module, which is configured to periodically send a heartbeat message to a target tower crane controller through a target channel, wherein the heartbeat message includes a handheld terminal identifier; and receive a response message fed back by the target tower crane controller based on the heartbeat message, wherein the response message includes the target tower crane controller identifier.
  • a heartbeat detection module configured to periodically send a heartbeat message to a target tower crane controller through a target channel, wherein the heartbeat message includes a handheld terminal identifier; and receive a response message fed back by the target tower crane controller based on the heartbeat message, wherein the response message includes the target tower crane controller identifier.
  • the device also includes a heartbeat message termination module, which is configured to terminate sending heartbeat messages to the target tower crane controller when it is determined that the handheld terminal fails, so that the target tower crane controller can take back the control of the target tower crane according to the abnormal condition of the heartbeat message.
  • a heartbeat message termination module which is configured to terminate sending heartbeat messages to the target tower crane controller when it is determined that the handheld terminal fails, so that the target tower crane controller can take back the control of the target tower crane according to the abnormal condition of the heartbeat message.
  • the tower crane handheld terminal control device provided in the embodiment of the present application can execute the tower crane handheld terminal control method provided in any embodiment of the present application, and has the corresponding functional modules and effects of the execution method.
  • Fig. 8 shows a block diagram of a handheld terminal that can be used to implement an embodiment of the present application.
  • the handheld terminal 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers.
  • the handheld terminal 10 can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices.
  • the components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and/or required herein.
  • the handheld terminal 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform a variety of appropriate actions and processes according to the computer program stored in the ROM 12 or the computer program loaded from the storage unit 18 to the RAM 13.
  • the RAM 13 a variety of programs and data required for the operation of the handheld terminal 10 can also be stored.
  • the processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14.
  • An input/output (I/O) interface 15 is also connected to the bus 14.
  • a number of components in the handheld terminal 10 are connected to the I/O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc.
  • the communication unit 19 allows the handheld terminal 10 to exchange information/data with other devices through a computer network such as the Internet and/or various telecommunication networks.
  • the processor 11 may be a variety of general and/or special processing components with processing and computing capabilities. Some examples of the processor 11 include a central processing unit (CPU), a graphics processing unit (GPU), a variety of dedicated artificial intelligence (AI) computing chips, a variety of processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc.
  • the processor 11 executes the multiple methods and processes described above, such as a tower crane handheld terminal control method.
  • the tower crane handheld terminal control method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18.
  • part or all of the computer program can be loaded and/or installed on the handheld terminal 10 via the ROM 12 and/or the communication unit 19.
  • the processor 11 can be implemented in any other appropriate manner (for example, by means of firmware) It is configured to execute the tower crane handheld terminal control method.
  • Various embodiments of the systems and techniques described above herein may be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard parts (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof.
  • FPGAs field programmable gate arrays
  • ASICs application specific integrated circuits
  • ASSPs application specific standard parts
  • SOCs systems on chips
  • CPLDs complex programmable logic devices
  • These various embodiments may include: being implemented in one or more computer programs that are executable and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.
  • a programmable processor which may be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.
  • the computer programs for implementing the methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer programs are executed by the processor, the functions/operations specified in the flow charts and/or block diagrams are implemented.
  • the computer programs may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.
  • a computer readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or apparatus.
  • a computer readable storage medium may include an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any suitable combination of the foregoing.
  • a computer readable storage medium may be a machine readable signal medium.
  • machine readable storage media may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a RAM, a ROM, an Erasable Programmable Read-Only Memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
  • a handheld terminal having: a display device (e.g., a cathode ray tube (CRT) or a liquid crystal display (LCD) monitor) configured to display information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the handheld terminal.
  • a display device e.g., a cathode ray tube (CRT) or a liquid crystal display (LCD) monitor
  • a keyboard and pointing device e.g., a mouse or trackball
  • Other types of devices may also be configured to provide interaction with a user; for example, the feedback provided to the user may be any form of sensory feedback. (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).
  • the systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components.
  • the components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: Local Area Network (LAN), Wide Area Network (WAN), blockchain network, and the Internet.
  • a computing system may include a client and a server.
  • the client and the server are generally remote from each other and usually interact through a communication network.
  • the client and server relationship is generated by computer programs running on the respective computers and having a client-server relationship with each other.
  • the server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and virtual private servers (VPS) services.
  • VPN virtual private servers

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Abstract

本申请公开塔吊手持终端控制方法、装置、手持终端和存储介质。塔吊手持终端控制方法包括：在目标塔吊的吊钩运行过程中，获取针对所述目标塔吊的控制权(S101A)；根据用户对第一人机交互模块的触发操作生成操作指令，并根据所述操作指令，在获取控制权时所述吊钩的运行位置处至用户指定位置的区域内引导所述吊钩运行(S102A)。

Description

塔吊手持终端控制方法、装置、手持终端和存储介质
本申请要求在2022年11月04日提交中国专利局、申请号为202211376178.7的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及智能控制技术领域，例如涉及塔吊手持终端控制方法、装置、手持终端和存储介质。
背景技术
塔吊是建筑领域的重要吊装工具，位于塔吊驾驶舱的司机(简称塔司)通过操控塔吊，以完成房屋或桥梁的吊装工作，这不仅对塔司的驾驶操作技能有严格的要求，而且工作效率通常较低。针对上述问题行业内部分厂家已经实现远程操作，以将塔吊顶端的驾驶室操纵台通过通信手段移植远端，可以通过远程驾仓或手持操控台的方式实现。
但不论是远程驾仓还是手持操控台的方式，都对塔司的经验技术有严格的要求，特别是手持操控台需要塔司提前掌握地面环境，而远程驾仓需要工地提供专用作业用地供塔司操作，因此远程操作方式并不能满足用户的实际作业需求。
发明内容
本申请提供了塔吊手持终端控制方法、装置、手持终端和存储介质，以实现对塔吊的智能控制。
根据本申请的第一方面，提供了一种塔吊手持终端控制方法，应用于手持终端，包括：
在目标塔吊的吊钩运行过程中，获取针对所述目标塔吊的控制权；
根据用户对第一人机交互模块的触发操作生成操作指令，并根据所述操作指令，在获取控制权时所述吊钩的运行位置处至用户指定位置的区域内引导所述吊钩运行。
根据本申请的第二方面，提供了一种塔吊手持终端控制装置，包括：
控制权限转移模块，设置为获取针对所述目标塔吊的控制权；
塔吊第一运行控制模块，设置为所述目标塔吊的吊钩在指定安全区域内下 降过程中，根据用户对第一人机交互模块的触发操作生成第一类操作指令，并根据所述第一类操作指令引导所述目标塔吊的吊钩运行到用户指定位置，以使用户在所述指定位置针对吊钩完成吊装物品的处理操作；
塔吊第二运行控制模块，设置为所述目标塔吊的吊钩在所述指定安全区域内上升过程中，根据用户对第一人机交互模块的触发操作生成第二类操作指令，并根据所述第二类操作指令将完成所述挂钩或摘钩的所述目标塔吊的吊钩引导出所述指定安全区域。
根据本申请的第三方面，提供了一种手持终端，所述手持终端包括：
至少一个处理器；以及
与所述至少一个处理器通信连接的存储器；其中，
所述存储器存储有可被所述至少一个处理器执行的计算机程序，所述计算机程序被所述至少一个处理器执行，以使所述至少一个处理器能够执行上述的塔吊手持终端控制方法。
根据本申请的第四方面，提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机指令，所述计算机指令用于使处理器执行时实现上述的塔吊手持终端控制方法。
附图说明
图1A是本申请实施例一提供的一种塔吊手持终端控制方法的流程图；
图1B是本申请实施例一提供的另一种塔吊手持终端控制方法的流程图；
图2是本申请实施例一提供的一种手持终端操作界面示意图；
图3是本申请实施例一提供的一种塔吊手持终端控制过程的交互示意图；
图4是本申请实施例二提供的一种塔吊手持终端控制方法的流程图；
图5是本申请实施例二提供的一种连通状态检测的交互示意图；
图6是本申请实施例三提供的一种塔吊手持终端控制装置的结构示意图；
图7是本申请实施例三提供的另一种塔吊手持终端控制装置的结构示意图；
图8是本申请实施例四提供的一种手持终端的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行描述，所描述的实施例仅仅是本申请一部分的实施例。
本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于列出的那些步骤或单元，而是可包括没有列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
实施例一
图1A是本申请实施例一提供的一种塔吊手持终端控制方法的流程图，本实施例可适用于对塔吊进行控制的情况，该方法可以由本申请实施例中的塔吊手持终端控制装置来执行，该装置可以采用硬件和/或软件的形式实现，该装置可配置于终端设备中。如图1A所示，该方法包括：
步骤S101A，在目标塔吊的吊钩运行过程中，获取针对目标塔吊的控制权。
步骤S102A，根据用户对第一人机交互模块的触发操作生成操作指令，并根据操作指令，在获取控制权时所述吊钩的运行位置处至用户指定位置的区域内引导吊钩运行。
手持终端在吊钩运行过程中，可以随时获取目标塔吊的控制权，也可以在吊钩运行到一段区域时允许手持终端获取控制权，也可以在目标塔吊的控制器控制吊钩运行过程中即塔吊控制器自动控制吊钩运行过程中，例如，在发现运行区域有障碍物或者到达臂架保护区等其它需要人工干预控制的情况下，用户操作手持终端从目标塔吊的控制器处获取控制权。吊钩运行过程可以是起钩阶段也可以是落钩阶段。用户指定位置可以是吊装目标点，在起钩阶段可以是吊装物所在位置，落钩阶段可以是放置吊装物的位置。
用户可以通过手持终端上提供的第一人机交互模块生成控制吊钩运行操作指令，在获取控制权时所述吊钩的当前运行位置处至用户指定位置的区域内引导所述吊钩运行，例如，控制吊钩在该区域内向上、向下、向前、向后、向左或向右运行。
本申请实施例的技术方案，在不需要特殊场景以及用户技能严格要求的情况下，在塔吊的吊钩运行过程中，通过操控手持终端可以对吊钩的运行进行控制，手持终端的控制区域是手持终端获取权限时吊钩的运行位置至用户 指定位置的区域，从而提高了塔吊的作业效率，满足了用户的实际作业需求。
图1B是本申请实施例一提供的另一种塔吊手持终端控制方法的流程图，如图1B所示，该方法包括：
步骤S101B，在吊钩到达指定安全区域时，获取针对目标塔吊的控制权。
指定安全区域可以是吊钩运行路径中离地面一定高度的一段区域，可以根据工地现场实际情况。设定指定安全区域后，可以允许手持终端获取对吊钩的控制权。
在获取针对目标塔吊的控制权之前，还包括：根据用户对第二人机交互模块的触发操作生成吊装需求，其中，吊装需求包括吊装目标点；将吊装需求发送给预先建立通信连接的目标塔吊控制器，以使目标塔吊控制器根据吊装需求确定规划路径，并控制目标塔吊按照规划路径向吊装目标点运行。
第二人机交互模块展示有吊装请求交互标签，其中，所述吊装请求交互标签包括起勾请求交互标签或落勾请求交互标签。
如图2所示为本申请实施方式中手持终端操作界面示意图，在手持终端操作界面上包含多个人机交互模块，并且每个人机交互模块展示对应的交互标签，本实施方式中的交互模块的形式可以是按键。例如，人机交互模块可以包括起勾申请按键、落吊申请按键、控制请求按键或控制结束按键，本实施方式中并不限定人机交互模块上展示的交互标签的形式，并且用户可以通过按压的方式触发界面上的人机交互模块，手持终端在根据用户所触发的人机交互模块生成相应的操作指令，人机交互模块展示的标签可用于向用户展示该模块的功能。
在手持终端完成通道绑定，并经过通道选择与指定的塔吊控制器建立连接之后，可以参照图3所示的塔吊控制过程的交互示意图实现塔吊控制过程。当在A点有吊装物品，并需要通过塔吊运送到B点时，位于A点的用户通过操控手持终端A实现对塔吊吊钩的挂钩，同理位于B点的用户通过操控手持终端B实现对塔吊吊钩的摘钩。
当位于A点的用户按压手持终端A的起勾申请按键时，手持终端A会根据用户的操作启动定位模块，并通过定位模块实现自动定位，并根据定位结果获取吊装目标点，例如A点。另外，手持终端A还会根据绑定关系获取通道1所绑定的目标塔吊控制器的塔吊控制器标识1，以及自身的手持终端标识1，从而根据吊装目标点-A点，目标塔吊控制器标识-塔吊控制器1以及手持终端标识-手持终端1生成吊装需求。并将吊装需求发送给预先建立通信连接的塔吊控制器1，塔吊控制器1在确定接收到吊装需求时会向手持终端A发送回复确认消息，如果手持终端在预设时间内没有接收到所反馈的回复确认消息，则会重传3 次，以保证塔吊控制器能够准确接收到手持终端A所发送的消息。另外，当塔吊控制器1在接收到吊装需求时，会根据所获取的吊装目标点确定出规划路径，并控制所关联的目标塔吊按照规划路径向A点运行。
获取针对目标塔吊的控制权，包括：在目标塔吊按照规划路径向吊装目标点运行时，根据用户对第三人机交互模块的触发操作生成权限获取请求；将权限获取请求发送给目标塔吊控制器，以使目标塔吊控制器根据权限获取请求将所关联的目标塔吊的控制权转移给手持终端。
第三人机交互模块展示有控制请求交互标签或权限获取请求标签。
在塔吊控制器按照规划路径控制目标塔吊向A点运行时，手持终端可以根据用户对第三人机交互模块的触发操作生成权限获取请求，并将权限获取请求发送给目标塔吊控制器，以获取针对目标塔吊的控制权。并且本实施方式中的控制权可以是当目标塔吊的吊钩运行到吊装目标点时所获取的，也可以是在目标塔吊的吊钩在运行到吊装目标点之前所获取的，而并不限定控制权的获取时机，只要是在目标塔吊控制器确定出规划路径向吊装目标点运行过程中的任意时刻都可以。用户手持终端可以通过获取目标塔吊的控制权，并基于控制权直接对目标塔吊进行蚁速控制。用户通过触发操作界面上的控制请求交互按键，手持终端A则根据用户的操作生成权限获取请求，并将所生成的权限获取请求发送给塔吊控制器1，并且在发送权限获取请求时，还会将手持终端标识以及与通道1所绑定的目标塔吊控制器标识发送给塔吊控制器1，发送手持终端标识的作用是告知塔吊控制器1当前的权限获取请求是谁发送的，而发送目标塔吊控制器标识的作用是便于塔吊控制器1进行校验，以确定该权限获取请求是否是发送给自己的。塔吊控制器1在确定接收到终端A发送的权限获取请求时，会向手持终端A发送权限转移指令，以将塔吊控制器1所关联的目标塔吊的控制权转移给手持终端A。并且手持终端A在预设时间内没有接收到回复信息时，则会将请求重传3次，以保证塔吊控制器1能够准确接收到手持终端A所发送的请求。当确定重传3次依然没有接收到塔吊控制器的回复信息时，则会在终端侧进行报警，以提示用于即时对手持终端或通信网络进行检修。由此可以得知，手持终端A每次向塔吊控制器1发送消息时都会将自身的标识和目标塔吊控制器标识一起发送，以使塔吊控制器1进行验证，保证消息准确发送给目标方；另外，在确定没有接收到塔吊控制器1针对所发送消息的响应时都会重传指定次数，以保证塔吊控制器能够准确接收到手持终端A所发送的消息。
步骤S102B，目标塔吊的吊钩从指定安全区域下降过程中，根据用户对第一人机交互模块的触发操作生成第一类操作指令，并根据第一类操作指令 从获取控制权时所述吊钩的运行位置开始，引导目标塔吊的吊钩运行到用户指定位置，以使用户在指定位置针对吊钩完成吊装物品的处理操作。
本实施例中，手持终端获取控制权后，先引导吊钩从当前运行位置下降至用户指定位置，再从用户指定位置将吊钩上升至指定安全区域，并继续将吊钩引导出指定安全区域，引导出指定安全区域后再将控制权交给塔吊控制器。吊钩从当前运行位置下降至用户指定位置后，用户可以完成将吊装物挂到吊钩上的操作，也可以完成从吊钩上摘取吊装物的操作。吊钩从用户指定位置上升至指定安全区域的过程，可以是将吊装物运载到放置吊装物位置处的过程，也可以是完成吊装后将吊钩收起安放在指定位置的过程。
根据用户对第一人机交互模块的触发操作生成第一类操作指令，并根据第一类操作指令从获取控制权时吊钩的运行位置开始，引导目标塔吊运行到用户指定位置，包括：根据用户对第一人机交互模块的触发操作生成第一类按键编码，并将第一类按键编码作为第一类操作指令；将第一类操作指令采用无线通信方式发送给目标塔吊控制器，通过目标塔吊控制器对吊钩的运行实现控制，实现手持终端对吊钩的控制。该方法与塔吊控制器自动控制吊钩运行不同，塔吊控制器自动控制吊钩是由塔吊控制器规划路径并由塔吊控制器根据规划路径控制吊钩运行。而本申请实施例中，手持终端对吊钩的控制时吊钩的运行路径由手持终端控制。
第一类操作指令用于在所述指定安全区域内控制目标塔吊的起升机构或回转机构运动，使吊钩向上、向下、向右回转、向左回转、向前或向后运动，控制目标塔吊的变幅机构运动以变化吊钩运动变幅的大小。
第一类操作指令还用于在所述指定安全区域内控制目标塔吊的变幅机构运动以变化吊钩运动变幅的大小。
本实施方式在获取到针对目标塔吊的控制权之后，会确定获取控制权时吊钩的当前运行位置，同时手持终端还会获取用户所输入的用户指定位置。其中，针对起勾的场景来说，用户指定位置指的是待起吊的吊装物品当前所放置到位置，而针对落吊的场景来说，用户指定位置指的是已经起吊的吊装物品待放置的位置，本实施方式中并不对用户指定位置进行限定。
针对不同的场景用户在指定位置针对吊钩所完成的吊装物品的处理操作并不相同，例如，针对起勾的场景，处理操作是将吊装物品装载到吊钩上；针对落吊场景，处理操作是将吊装物品从吊钩上进行卸载。
当手持终端A获取到针对目标塔吊的控制权后，用户便可以通过操控手持终端上的人机交互模块在指定安全区域内控制目标塔吊的运行，当目标塔吊在 指定安全区域内下降过程中，用户可以通过按压操作界面上的第一人机交互模块，例如上按键、下按键、左回按键、右回按键、前按键和后按键实现对目标塔吊的控制。例如，根据用户对下按键的触发操作生成下按键编码，并将下按键编码作为下操作指令，将下操作指令采用无线通信方式发送给塔吊控制器1，而塔吊控制器1则根据所获取的下操作指令以A点为起点控制所关联的塔吊向下移动，本实施方式中仅是以控制塔吊控制器向下移动为例进行说明，目标塔吊在指定安全区域内下降过程中，用户还可以通过操控手持终端上的第一人机交互模块控制目标塔吊执行上、回旋左、回旋右、前和后等动作，最终通过微调实现将目标塔吊引导至吊装物品所在的位置。当目标塔吊运行到吊装物品所在位置处时，用户便可以操作将吊装物品挂钩到目标塔吊上，以完成吊装物品的起勾操作。
步骤S103B，目标塔吊的吊钩从用户指定位置上升至指定安全区域内的过程中，根据用户对第一人机交互模块的触发操作生成第二类操作指令，并根据第二类操作指令将目标塔吊的吊钩引导出指定安全区域。
根据用户对第一人机交互模块的触发操作生成第二类操作指令，并根据第二类操作指令将完成挂钩或摘钩的目标塔吊引导出指定安全区域，包括：根据用户对第一人机交互模块的触发操作生成第二类按键编码，并将第二类按键编码作为第二类操作指令；将第二类操作指令采用无线通信方式发送给目标塔吊控制器，以使目标塔吊控制器根据第二类操作指令将完成挂钩或摘钩的目标塔吊引导出指定安全区域。
第二类操作指令用于在所述指定安全区域内控制目标塔吊的起升机构或回转机构运动，使吊钩向上、向下、向右回转、向左回转、向前或向后运动，控制目标塔吊的变幅机构运动以变化吊钩运动变幅的大小。
第二类操作指令还用于在所述指定安全区域内控制目标塔吊的变幅机构运动以变化吊钩运动变幅的大小。
针对起勾的场景来说，当将吊装物品挂钩到目标塔吊吊钩上之后，用户可以继续通过操控手持终端控制目标塔吊在指定安全区域内进行上升。此时，用户可以继续通过按压操作界面上的第一人机交互模块，例如上按键、下按键、左回按键、右回按键、前按键和后按键实现对目标塔吊的控制。例如，根据用户对上按键的触发操作生成上按键编码，并将上按键编码作为上操作指令，将上操作指令采用无线通信方式发送给塔吊控制器1，而塔吊控制器1根据所获取的上操作指令以吊装物品所在的位置为起点控制所关联的塔吊的吊钩向上移动，最终通过微调实现将目标塔吊引导出指定安全区域。
方法还包括：根据用户对第四人机交互模块的触发操作生成急停指令；将 急停指令发送给目标塔吊控制器，以通过目标塔吊控制器根据急停指令终止目标塔吊的吊装工作。
第四人机交互模块展示有急停操作交互标签。急停操作交互标签可以是急停操作交互按键。
在通过手持终端A对目标塔吊进行蚁速控制的过程中，如果出现紧急状况，例如，运行方向的前方出现不明障碍物，出现脱钩或者塔吊中有零件掉落等情况时，用户还可以通过触发操作界面上的急停操作按键，控制目标塔吊停止运行。例如，当将吊装物品挂钩到目标塔吊上后，在控制目标塔吊向上运行的过程中，如果发现行进前方出现了障碍物，并存在碰撞风险时，用户会按压急停操作按键，手持终端A则根据用户对急停操作交互按键的触发操作生成急停指令，并将急停指令发送给塔吊控制器1，而塔吊控制器1则根据急停指令终止目标塔吊的吊装工作，从而保证吊装工作的安全性。
方法还包括：根据用户对第五人机交互模块的触发操作生成权限放弃请求；将权限放弃请求发送给目标塔吊控制器，以使目标塔吊控制器根据权限放弃请求将目标塔吊的控制权进行收回。
第五人机交互模块展示有控制结束交互标签或权限放弃请求标签。
当目标塔吊运行出指定安全区域，或者在指定安全区域运行过程中由于临时状况用户需要放弃对目标塔吊的控制时，用户可以触发操作界面上的控制结束案件，以实现将目标塔吊的控制权进行转移。例如，当目标塔吊完成挂钩并再次运行到A点时，根据用户对控制结束按键的操作生成权限放弃请求，并将权限放弃请求发送给塔吊控制器1，而塔吊控制器1在接收到权限放弃请求时，会向手持终端A发送权限收回指令，以将目标塔吊的控制权进行收回。
由于一个塔吊控制器可以同时绑定多个手持终端，因此当通过手持终端A将挂钩的目标塔吊引导出指定安全区域后，位于B点的用户可以通过操控手持终端B继续与塔吊控制器1进行交互，以引导与塔吊控制器1所关联的目标塔吊运行到B点，从而实现将吊装物品从目标塔吊上进行摘钩，例如当位于B点的用户按压手持终端B的落勾申请按键时，手持终端B会根据用户的操作启动定位模块，并通过定位模块实现自动定位，并根据定位结果获取吊装目标点，例如B点。由于手持终端B也是与塔吊控制器预先绑定好的，因此手持终端B还会根据绑定关系获取塔吊控制器标识1、以及自身的手持终端标识2，从而根据吊装目标点-B点，目标塔吊控制器标识-塔吊控制器1以及手持终端标识-手持终端2生成吊装需求并将吊装需求发送给预先建立通信连接的塔吊控制器1。并且手持终端B也会与塔吊控制器1进行回复信息确认，而塔吊控制器1在接收到新的吊装需求时，会规划出从A点到B点的新的规划路径，并控制所关联的 目标塔吊按照规划路径向B点方向运行。而在到达B点上空的指定安全区域后，手持终端B会与塔吊控制器1进行信息交互，以实现在从指定安全区域到B点的蚁速控制，以实现在B点将由A点吊装过来的吊装物品进行摘钩。针对落吊的场景来说，在将吊装物品从目标塔吊的吊钩上卸载之后，为了保证操作环境的安全性，避免目标塔吊的吊钩对操作人员的阻碍，需要继续通过按压操作界面上的第一人机交互模块，控制目标塔吊的吊钩从B点向上移，以实现将目标塔吊引导出指定安全区域直至引导至安放吊钩的区域，从而提高操作场地的安全性。而在新的指定安全区域内的蚁速控制过程，涉及目标塔吊下降过程中根据用户操作指令运行到吊装物品放置位置，以及上升过程中根据用户指令将完成摘勾的目标塔吊引导出新的指定安全区域的过程。而关于手持终端B和塔吊控制器1在新的指定安全区域内的交互过程与上述起勾过程大致相同，因此本实施方式中不再进行赘述。
本申请实施例，在不需要特殊场景以及用户技能严格要求的情况下，通过操控手持终端就可以在指定安全区域内实现对目标塔吊的控制完成吊装任务，从而提高了塔吊的作业效率，满足了用户的实际作业需求。
实施例二
图4是本申请实施例二提供的一种塔吊手持终端控制方法的流程图，本实施例一上述实施例为基础，当目标塔吊运行到指定安全区域的边界点时获取针对目标塔吊的控制权之后，增加了通过心跳机制探测手持终端与塔吊控制器间的连通状态。如图4所示，方法包括：
步骤S201，获取针对目标塔吊的控制权。
获取针对目标塔吊的控制权，包括：在所述目标塔吊按照所述规划路径向所述吊装目标点运行时，根据用户对控制请求按键的触发操作生成权限获取请求；将权限获取请求发送给目标塔吊控制器，以使目标塔吊控制器根据权限获取请求将所关联的目标塔吊的控制权转移给手持终端。
第二人机交互模块展示有吊装请求交互标签，其中，吊装请求交互标签包括起勾请求交互标签或落勾请求交互标签。
吊装需求中还包括手持终端标识和目标塔吊控制器标识；根据用户对第二人机交互模块的触发操作生成吊装需求，包括：根据用户对第二人机交互模块的触发操作启动定位模块进行自动定位，根据定位结果获取吊装目标点；获取与目标通道所绑定的目标塔吊控制的目标塔吊控制器标识，以及自身的手持终端标识；根据吊装目标点、目标塔吊控制器标识和手持终端标识生成吊装需求。
根据用户对第二人机交互模块的触发操作生成吊装需求之前，还包括：接收塔吊控制器发送的绑定请求，并根据绑定请求获取目标通道标识；根据目标通道标识与塔吊控制器进行通道绑定交互以建立绑定关系，其中，绑定关系中包含手持终端标识、目标通道标识与塔吊控制器标识的对应关系。
在手持终端操作界面上包含多个通道按键，而每个通道按键对应一个塔吊控制器，因此用户在通过触发人机交互模块生成操作指令之前，需要通过触发指定的通道按键，并将指定的通道按键进行激活，从而实现对塔吊控制器的选择。由于手持终端可以通过不同的通道分别绑定多个塔吊控制器，因此只有用户预先通过触发通道按键选择对应的塔吊控制器，才能实现将所生成的操作指令准确发送给所指定的塔吊控制器中。
在一个实现中，手持终端和塔吊控制器1进行绑定时，手持终端会接收塔吊控制器1发送的绑定请求，而在绑定请求中包含塔吊控制器标识和目标手持终端标识，其中，目标手持终端标识就是后台维护人员预先在塔吊控制器中所输入的待建立绑定关系的手持终端的标识。手持终端会从绑定请求中提取目标手持终端标识，并对目标手持终端标识进行校验，校验的过程是将目标手持终端标识与自身手持终端标识进行对比，若目标手持终端标识与自身手持终端标识一致则确定校验通过生成校验通过提示，并将校验通过提示以语音的形式向用户进行展示，接收用户根据校验通过提示通过触发人机交互模块所输入的目标通道标识1，从而根据目标通道标识与塔吊控制器1进行通道绑定交互以建立绑定关系。只有手持终端和塔吊控制器1建立绑定关系的情况下，当用户需要操控塔吊控制器1所关联的塔吊时，仅需要选择通道1按键将通道1进行激活，就可以将手持终端所生成的指令通过处于激活状态的通道1发送给塔吊控制器1。
步骤S202，通过目标通道定时向目标塔吊控制器发送心跳报文。
如图5所示，为手持终端和塔吊控制器之间的连通状态检测的交互示意图，手持终端A会在指定周期内向塔吊控制器1发送心跳报文，并且在发送心跳报文的同时，还会向塔吊控制器发送手持终端标识和目标塔吊控制器标识，塔吊控制器当确定接收到心跳报文时，则可以确定与手指终端之间所绑定的通道通信状态良好，因此手持终端所生成的控制指令可以保证准确的发送给塔吊控制器。
方法还包括：当确定手持终端出现故障时终止向目标塔吊控制器发送心跳报文，以使目标塔吊控制器根据心跳报文异常状况将目标塔吊的控制权进行收回。
当确定手持终端A出现故障时，则终止向塔吊控制器1发送心跳报文，塔吊控制器1在指定时间范围内确定没有收到心跳报文时，则可以确定与手 持终端A之间的通信连接异常，为了保证目标塔吊的正常工作，会将目标塔吊的控制权进行收回，并且可以将控制权控制方式切换至塔司控制，本实施方式中并不限定出现心跳报文异常时，目标塔吊控制权限的转移方式，只要能够保证目标塔吊的正常工作，则都是在本申请的保护范围内，本实施方式中并不对其进行限定。
步骤S203，接收目标塔吊控制器根据心跳报文所反馈的响应报文。
当手持终端A与塔吊控制器之间的通信连接正常时，当手持终端A向塔吊控制器1发送心跳报文时，塔吊控制器1则可根据接收的心跳报文生成响应报文，手持终端A则可以接收到塔吊控制器1所发送的响应报文，并且在响应报文中包含目标塔吊控制器标识。
本实施方式中通过心跳机制，手持终端和塔吊控制器之间可以探测到通道的通信状态，并且当在一定周期内，例如三个周期内检测不到心跳报文或针对心跳报文的响应报文时，则实现别动急停功能。
步骤S204，目标塔吊的吊钩从指定安全区域下降过程中，根据用户对第一人机交互模块的触发操作生成第一类操作指令，并根据第一类操作指令从获取控制权时吊钩的运行位置开始，引导目标塔吊的吊钩运行到用户指定位置，以使用户在指定位置针对吊钩完成吊装物品的处理操作。
根据用户对第一人机交互模块的触发操作生成第一类操作指令，并根据第一类操作指令引导目标塔吊运行到用户指定位置，包括：根据用户对第一人机交互模块的触发操作生成第一类按键编码，并将第一类按键编码作为第一类操作指令；将第一类操作指令采用无线通信方式发送给目标塔吊控制器，以使目标塔吊控制器根据第一类操作指令以吊装目标点为起点引导目标塔吊运行到用户指定位置。
步骤S205，目标塔吊的吊钩从用户指定位置上升至指定安全区域的过程中，根据用户对第一人机交互模块的触发操作生成第二类操作指令，并根据第二类操作指令将目标塔吊的吊钩引导出指定安全区域。
根据用户对第一人机交互模块的触发操作生成第二类操作指令，并根据第二类操作指令将完成挂钩或摘钩的目标塔吊引导出指定安全区域，包括：根据用户对第一人机交互模块的触发操作生成第二类按键编码，并将第二类按键编码作为第二类操作指令；将第二类操作指令采用无线通信方式发送给目标塔吊控制器，以使目标塔吊控制器根据第二类操作指令将完成挂钩或摘钩的目标塔吊引导出指定安全区域。
本申请实施例，在不需要特殊场景以及用户技能严格要求的情况下，通过 操控手持终端就可以在指定安全区域内实现对目标塔吊的控制完成吊装任务，从而提高了塔吊的作业效率，满足了用户的实际作业需求。通过心跳机制可以探测手持终端和塔吊控制器之间通道的通信状态，并且在一定周期内检测到通信异常时，将控制器控制方式切换为塔司控制，从而保证了塔吊吊装工作的正常执行。
实施例三
图6是本申请实施例三提供的一种塔吊手持终端控制装置的结构示意图。本申请实施例三提供一种塔吊手持终端控制装置，包括：控制权限获取模块110，设置为在目标塔吊的吊钩运行过程中，获取针对目标塔吊的控制权；运行控制模块120，设置为根据用户对第一人机交互模块的触发操作生成操作指令，并根据所述操作指令，在获取控制权时所述吊钩的运行位置处至用户指定位置的区域内引导所述吊钩运行。
图7是本申请实施例三提供的另一种塔吊手持终端控制装置的结构示意图。如图7所示，该装置包括：控制权限获取模块310、塔吊第一运行控制模块320和塔吊第二运行控制模块330。
控制权限获取模块310，设置为在所述吊钩到达指定安全区域时，获取针对所述目标塔吊的控制权；塔吊第一运行控制模块320，设置为吊钩在从指定安全区域内下降过程中，根据用户对第一人机交互模块的触发操作生成第一类操作指令，并根据所述第一类操作指令从所述获取控制权时所述吊钩的运行位置开始，引导所述目标塔吊的吊钩运行到用户指定位置，以使用户在所述指定位置针对所述吊钩完成吊装物品的处理操作；塔吊第二运行控制模块330，设置为吊钩从所述用户指定位置向所述指定安全区域上升过程中，根据用户对第一人机交互模块的触发操作生成第二类操作指令，并根据所述第二类操作指令将所述吊钩引导出所述指定安全区域。
装置还包括：吊装需求生成模块，设置为根据用户对第二人机交互模块的触发操作生成吊装需求，其中，吊装需求包括吊装目标点；吊装需求发送模块，设置为将吊装需求发送给预先建立通信连接的目标塔吊控制器，以使目标塔吊控制器根据吊装需求确定规划路径，并控制目标塔吊按照规划路径向吊装目标点运行。
第二人机交互模块展示有起勾请求交互标签或落勾请求交互标签。
控制权限获取模块310，设置为在目标塔吊按照规划路径向吊装目标点运行 时，根据用户对第三人机交互模块的触发操作生成权限获取请求；将权限获取请求发送给目标塔吊控制器，以使目标塔吊控制器根据权限获取请求将所关联的目标塔吊的控制权转移给手持终端；确定发送权限获取请求时吊钩的运行位置，并根据吊钩的运行位置确定指定安全区域。
第三人机交互模块展示有控制请求交互标签或权限获取请求标签。
第一类操作指令或第二类操作指令，用于在指定安全区域内控制目标塔吊的起升机构或回转机构运动，使吊钩向上、向下、向右回转、向左回转、向前或向后运动。
第一类操作指令或第二类操作指令，还用于在指定安全区域内控制目标塔吊的变幅机构运动以改变吊钩的运动变幅的大小。
塔吊第一运行控制模块320和塔吊第二运行控制模块330，设置为通过如下方式根据用户对第一人机交互模块的触发操作生成第一类操作指令或第二类操作指令：根据用户对第一人机交互模块的触发操作生成按键编码，并将按键编码作为第一类操作指令或第二类操作指令；将第一类操作指令或第二类操作指令采用无线通信方式发送给目标塔吊控制器。
装置还包括急停控制模块，设置为根据用户对第四人机交互模块的触发操作生成急停指令；将急停指令发送给目标塔吊控制器，以通过目标塔吊控制器根据急停指令终止目标塔吊的吊装工作。
第四人机交互模块展示有急停操作交互标签。
装置还包括权限收回模块，设置为根据用户对第五人机交互模块的触发操作生成权限放弃请求；将权限放弃请求发送给目标塔吊控制器，以使目标塔吊控制器根据权限放弃请求将目标塔吊的控制权进行收回。
第五人机交互模块展示有控制结束交互标签或权限放弃请求标签。
装置还包括心跳检测模块，设置为通过目标通道定时向目标塔吊控制器发送心跳报文，其中，心跳报文中包含手持终端标识；接收目标塔吊控制器根据心跳报文所反馈的响应报文，其中，响应报文中包含目标塔吊控制器标识。
装置还包括心跳报文终止模块，设置为当确定手持终端出现故障时终止向目标塔吊控制器发送心跳报文，以使目标塔吊控制器根据心跳报文异常状况将目标塔吊的控制权进行收回。
本申请实施例所提供的塔吊手持终端控制装置可执行本申请任意实施例所提供的塔吊手持终端控制方法，具备执行方法相应的功能模块和效果。
实施例四
图8示出了可以用来实施本申请的实施例的手持终端的结构示意图。手持终端10旨在表示多种形式的数字计算机，诸如，膝上型计算机、台式计算机、工作台、个人数字助理、服务器、刀片式服务器、大型计算机、和其它适合的计算机。手持终端10还可以表示多种形式的移动装置，诸如，个人数字处理、蜂窝电话、智能电话、可穿戴设备(如头盔、眼镜、手表等)和其它类似的计算装置。本文所示的部件、它们的连接和关系、以及它们的功能仅仅作为示例，并且不意在限制本文中描述的和/或者要求的本申请的实现。
如图8所示，手持终端10包括至少一个处理器11，以及与至少一个处理器11通信连接的存储器，如只读存储器(Read-Only Memory，ROM)12、随机访问存储器(Random Access Memory，RAM)13等，其中，存储器存储有可被至少一个处理器执行的计算机程序，处理器11可以根据存储在ROM 12中的计算机程序或者从存储单元18加载到RAM 13中的计算机程序，来执行多种适当的动作和处理。在RAM 13中，还可存储手持终端10操作所需的多种程序和数据。处理器11、ROM 12以及RAM 13通过总线14彼此相连。输入/输出(Input/Output，I/O)接口15也连接至总线14。
手持终端10中的多个部件连接至I/O接口15，包括：输入单元16，例如键盘、鼠标等；输出单元17，例如多种类型的显示器、扬声器等；存储单元18，例如磁盘、光盘等；以及通信单元19，例如网卡、调制解调器、无线通信收发机等。通信单元19允许手持终端10通过诸如因特网的计算机网络和/或多种电信网络与其他设备交换信息/数据。
处理器11可以是多种具有处理和计算能力的通用和/或专用处理组件。处理器11的一些示例包括中央处理单元(Central Processing Unit，CPU)、图形处理单元(Graphics Processing Unit，GPU)、多种专用的人工智能(Artificial Intelligence，AI)计算芯片、多种运行机器学习模型算法的处理器、数字信号处理器(Digital Signal Processor，DSP)、以及任何适当的处理器、控制器、微控制器等。处理器11执行上文所描述的多个方法和处理，例如塔吊手持终端控制方法。
在一些实施例中，塔吊手持终端控制方法可被实现为计算机程序，其被有形地包含于计算机可读存储介质，例如存储单元18。在一些实施例中，计算机程序的部分或者全部可以经由ROM 12和/或通信单元19而被载入和/或安装到手持终端10上。当计算机程序加载到RAM 13并由处理器11执行时，可以执行上文描述的塔吊手持终端控制方法的一个或多个步骤。备选地，在其他实施例中，处理器11可以通过其他任何适当的方式(例如，借助于固件) 而被配置为执行塔吊手持终端控制方法。
本文中以上描述的系统和技术的多种实施方式可以在数字电子电路系统、集成电路系统、场可编程门阵列(Field Programmable Gate Array，FPGA)、专用集成电路(Application Specific Integrated Circuit，ASIC)、专用标准产品(Application Specific Standard Parts，ASSP)、芯片上的系统(System On Chip，SOC)、复杂可编程逻辑设备(Complex Programmable Logic Device，CPLD)、计算机硬件、固件、软件、和/或它们的组合中实现。这些多种实施方式可以包括：实施在一个或者多个计算机程序中，该一个或者多个计算机程序可在包括至少一个可编程处理器的可编程系统上执行和/或解释，该可编程处理器可以是专用或者通用可编程处理器，可以从存储系统、至少一个输入装置、和至少一个输出装置接收数据和指令，并且将数据和指令传输至该存储系统、该至少一个输入装置、和该至少一个输出装置。
用于实施本申请的方法的计算机程序可以采用一个或多个编程语言的任何组合来编写。这些计算机程序可以提供给通用计算机、专用计算机或其他可编程数据处理装置的处理器，使得计算机程序当由处理器执行时使流程图和/或框图中所规定的功能/操作被实施。计算机程序可以完全在机器上执行、部分地在机器上执行，作为独立软件包部分地在机器上执行且部分地在远程机器上执行或完全在远程机器或服务器上执行。
在本申请的上下文中，计算机可读存储介质可以是有形的介质，其可以包含或存储以供指令执行系统、装置或设备使用或与指令执行系统、装置或设备结合地使用的计算机程序。计算机可读存储介质可以包括电子的、磁性的、光学的、电磁的、红外的、或半导体系统、装置或设备，或者上述内容的任何合适组合。备选地，计算机可读存储介质可以是机器可读信号介质。机器可读存储介质的示例会包括基于一个或多个线的电气连接、便携式计算机盘、硬盘、RAM、ROM、可擦除可编程只读存储器(Erasable Programmable Read-Only Memory，EPROM或快闪存储器)、光纤、便捷式紧凑盘只读存储器(Compact Disc Read-Only Memory，CD-ROM)、光学储存设备、磁储存设备、或上述内容的任何合适组合。
为了提供与用户的交互，可以在手持终端上实施此处描述的系统和技术，该手持终端具有：设置为向用户显示信息的显示装置(例如，阴极射线管(Cathode Ray Tube，CRT)或者液晶显示器(Liquid Crystal Display，LCD)监视器)；以及键盘和指向装置(例如，鼠标或者轨迹球)，用户可以通过该键盘和该指向装置来将输入提供给手持终端。其它种类的装置还可以设置为提供与用户的交互；例如，提供给用户的反馈可以是任何形式的传感反馈 (例如，视觉反馈、听觉反馈、或者触觉反馈)；并且可以用任何形式(包括声输入、语音输入或者、触觉输入)来接收来自用户的输入。
可以将此处描述的系统和技术实施在包括后台部件的计算系统(例如，作为数据服务器)、或者包括中间件部件的计算系统(例如，应用服务器)、或者包括前端部件的计算系统(例如，具有图形用户界面或者网络浏览器的用户计算机，用户可以通过该图形用户界面或者该网络浏览器来与此处描述的系统和技术的实施方式交互)、或者包括这种后台部件、中间件部件、或者前端部件的任何组合的计算系统中。可以通过任何形式或者介质的数字数据通信(例如，通信网络)来将系统的部件相互连接。通信网络的示例包括：局域网(Local Area Network，LAN)、广域网(Wide Area Network，WAN)、区块链网络和互联网。
计算系统可以包括客户端和服务器。客户端和服务器一般远离彼此并且通常通过通信网络进行交互。通过在相应的计算机上运行并且彼此具有客户端-服务器关系的计算机程序来产生客户端和服务器的关系。服务器可以是云服务器，又称为云计算服务器或云主机，是云计算服务体系中的一项主机产品，以解决了传统物理主机与虚拟专用服务器(Virtual Private Server，VPS)服务中，存在的管理难度大，业务扩展性弱的缺陷。
可以使用上面所示的多种形式的流程，重新排序、增加或删除步骤。例如，本申请中记载的多个步骤可以并行地执行也可以顺序地执行也可以不同的次序执行，只要能够实现本申请的技术方案所期望的结果，本文在此不进行限制。

Claims (16)

  1. 一种塔吊手持终端控制方法，包括：
    在目标塔吊的吊钩运行过程中，获取针对所述目标塔吊的控制权；
    根据用户对第一人机交互模块的触发操作生成操作指令，并根据所述操作指令，在获取控制权时所述吊钩的运行位置处至用户指定位置的区域内引导所述吊钩运行。
  2. 根据权利要求1所述的方法，其中，所述在目标塔吊的吊钩运行过程中，获取针对所述目标塔吊的控制权，包括：
    在所述吊钩到达指定安全区域时，获取针对所述目标塔吊的控制权；
    所述根据用户对第一人机交互模块的触发操作生成操作指令，并根据所述操作指令，在获取控制权时所述吊钩的运行位置处至用户指定位置的区域内引导所述吊钩运行，包括：
    所述吊钩从指定安全区域下降过程中，根据用户对所述第一人机交互模块的触发操作生成第一类操作指令，并根据所述第一类操作指令从所述获取控制权时所述吊钩的运行位置开始，引导所述目标塔吊的吊钩运行到用户指定位置，以使用户在所述指定位置针对所述吊钩完成吊装物品的处理操作；
    所述吊钩从所述用户指定位置向所述指定安全区域上升过程中，根据用户对所述第一人机交互模块的触发操作生成第二类操作指令，并根据所述第二类操作指令将所述吊钩引导出所述指定安全区域。
  3. 根据权利要求1或2所述的方法，在所述获取针对所述目标塔吊的控制权之前，还包括：
    根据用户对第二人机交互模块的触发操作生成吊装需求，其中，所述吊装需求包括吊装目标点；
    将所述吊装需求发送给预先建立通信连接的目标塔吊控制器，以使所述目标塔吊控制器根据所述吊装需求确定规划路径，并控制所述目标塔吊按照所述规划路径向所述吊装目标点运行。
  4. 根据权利要求3所述的方法，其中，所述第二人机交互模块展示有起勾请求交互标签或落勾请求交互标签。
  5. 根据权利要求1或2所述的方法，其中，所述获取针对所述目标塔吊的控制权，包括：
    根据用户对第三人机交互模块的触发操作生成权限获取请求；
    将所述权限获取请求发送给目标塔吊控制器，以使所述目标塔吊控制器根 据所述权限获取请求将所关联的目标塔吊的控制权转移给所述手持终端。
  6. 根据权利要求5所述的方法，其中，所述第三人机交互模块展示有控制请求交互标签或权限获取请求标签。
  7. 根据权利要求1或2所述的方法，其中，所述第一类操作指令或所述第二类操作指令，用于在所述指定安全区域内控制所述目标塔吊的起升机构或回转机构运动，使所述吊钩向上、向下、向右回转、向左回转、向前或向后运动。
  8. 根据权利要求1或2所述的方法，其中，所述第一类操作指令或所述第二类操作指令，用于在所述指定安全区域内控制所述目标塔吊的变幅机构运动以改变所述吊钩的运动变幅的大小。
  9. 根据权利要求7或8所述的方法，根据用户对所述第一人机交互模块的触发操作生成所述第一类操作指令或所述第二类操作指令，包括：
    根据用户对所述第一人机交互模块的触发操作生成按键编码，并将所述按键编码作为所述第一类操作指令或所述第二类操作指令；
    将所述第一类操作指令或所述第二类操作指令采用无线通信方式发送给目标塔吊控制器。
  10. 根据权利要求1或2所述的方法，还包括：
    根据用户对第四人机交互模块的触发操作生成急停指令；
    将所述急停指令发送给目标塔吊控制器，以通过所述目标塔吊控制器根据所述急停指令终止所述目标塔吊的吊装工作。
  11. 根据权利要求9所述的方法，其中，所述第四人机交互模块展示有急停操作交互标签。
  12. 根据权利要求1或2所述的方法，还包括：
    根据用户对第五人机交互模块的触发操作生成权限放弃请求；
    将所述权限放弃请求发送给目标塔吊控制器，以使所述目标塔吊控制器根据所述权限放弃请求将所述目标塔吊的控制权进行收回。
  13. 根据权利要求12所述的方法，其中，所述第五人机交互模块展示有控制结束交互标签或权限放弃请求标签。
  14. 一种塔吊手持终端控制装置，包括：
    控制权限获取模块，设置为在目标塔吊的吊钩运行过程中，获取针对目标塔吊的控制权；
    运行控制模块，设置为根据用户对第一人机交互模块的触发操作生成操作指令，并根据所述操作指令，在获取控制权时所述吊钩的运行位置处至用户指定位置的区域内引导所述吊钩运行。
  15. 一种手持终端，包括：
    至少一个处理器；以及
    与所述至少一个处理器通信连接的存储器；其中，
    所述存储器存储有可被所述至少一个处理器执行的计算机程序，所述计算机程序被所述至少一个处理器执行，以使所述至少一个处理器能够执行权利要求1-13中任一项所述的塔吊手持终端控制方法。
  16. 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机指令，所述计算机指令用于使处理器执行时实现权利要求1-13中任一项所述的塔吊手持终端控制方法。
PCT/CN2023/129632 2022-11-04 2023-11-03 塔吊手持终端控制方法、装置、手持终端和存储介质 WO2024094180A1 (zh)

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