CN115571789B - Tower crane control method and device, tower crane edge controller and storage medium - Google Patents

Abstract

The embodiment of the present invention discloses a tower crane control method, device, tower crane edge controller and storage medium, including: receiving the lifting demand sent by the scheduling platform and the initial position sent by the associated target tower crane; determining the planned path according to the lifting demand and the initial position, and controlling the target tower crane to run to the lifting target point according to the planned path; obtaining the operating position of the target tower crane in real time, and adjusting the actual operating path of the target tower crane based on the operating position and the planned path; sending an authority transfer instruction to the terminal device when it is determined that the target tower crane has reached the lifting target point. Without the need for special scenarios and strict requirements on user skills, the control of the target tower crane can be automatically achieved, and the lifting task can be completed to improve the operating efficiency of the tower crane. The cockpit on the tower crane is cancelled, and the path planning can be achieved by the edge controller on the tower crane to achieve the purpose of safe operation of the tower crane. Compared with the remote cockpit, there is no need to obtain the panoramic vision of the tower crane.

Description

A tower crane control method, device, tower crane edge controller and storage medium

Technical Field

The embodiments of the present invention relate to the field of intelligent control technology, and in particular to a tower crane control method, device, tower crane edge controller and storage medium.

Background Art

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 tower crane operation. 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 existing remote operation method has not fundamentally changed the working method of the tower crane.

Summary of the invention

The embodiments of the present invention provide a tower crane control method, a tower crane edge controller and a storage medium to achieve intelligent control of the tower crane.

In a first aspect, an embodiment of the present invention provides a tower crane control method, which is applied to a tower crane edge controller, comprising: receiving a hoisting requirement sent by a scheduling platform and an initial position sent by an associated target tower crane, wherein the hoisting requirement is sent by a terminal device to the scheduling platform and includes at least one hoisting target point;

Determine a planned path according to the hoisting requirement and the initial position, and control the target tower crane to move toward the hoisting target point according to the planned path;

Acquire the operating position of the target tower crane in real time, and adjust the actual operating path of the target tower crane based on the operating position and the planned path;

When it is determined that the target tower crane has reached the hoisting target point, an authority transfer instruction is sent to the terminal device, so that the terminal device obtains control over 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 second aspect, an embodiment of the present invention provides a tower crane control device, comprising: a hoisting demand and initial position receiving module, which is used to receive a hoisting demand sent by a scheduling platform and an initial position sent by an associated target tower crane, wherein the hoisting demand is sent by a terminal device to the scheduling platform and includes at least one hoisting target point;

A planned path determination module, used to determine a planned path according to the hoisting requirement and the initial position, and control the target tower crane to move toward the hoisting target point according to the planned path;

A path adjustment module, used for acquiring the operating position of the target tower crane in real time, and adjusting the actual operating path of the target tower crane based on the operating position and the planned path;

The hoisting control module is used to send an authority transfer instruction to the terminal device when it is determined that the target tower crane has reached the hoisting target point, 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 third aspect, an embodiment of the present invention provides a tower crane edge controller, the tower crane edge controller comprising: at least one processor; and

a memory communicatively connected to the at least one processor; wherein,

The memory stores a computer program that can be executed by the at least one processor. The computer program is executed by the at least one processor so that the at least one processor can perform the method described above.

In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method as described above when executed.

The technical solution of the embodiment of the present invention 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 of the tower crane. The cockpit on the tower crane is eliminated, and path planning can be achieved by only the edge controller on the tower crane to achieve the purpose of safe operation of the tower crane. Compared with the remote cockpit, there is no need to obtain a panoramic vision of the tower crane.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

FIG1 is a flow chart of a tower crane control method provided by Embodiment 1 of the present invention;

FIG2 is a schematic diagram of an application architecture of an edge controller provided in Embodiment 1 of the present invention;

3 is a flow chart of a tower crane control method provided by Embodiment 2 of the present invention;

FIG4 is a schematic diagram of an application scenario of a tower crane control method provided by Embodiment 2 of the present invention;

5 is a flow chart of a tower crane control method provided by Embodiment 3 of the present invention;

FIG6 is a schematic diagram of an application scenario of a tower crane control method provided by Embodiment 3 of the present invention;

7 is a schematic diagram of the structure of a tower crane control device provided in Embodiment 4 of the present invention;

FIG8 is a schematic diagram of the structure of a tower crane edge controller provided in Embodiment 5 of the present invention.

DETAILED DESCRIPTION

In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

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

Embodiment 1

FIG1 is a flow chart of a tower crane control method provided by an embodiment of the present invention. This embodiment is applied to a tower crane control device and can be applicable to the case of intelligently controlling a tower crane. As shown in FIG1 , the method specifically includes the following steps:

Step S101, receiving the lifting demand sent by the dispatching platform and the initial position sent by the associated target tower crane.

Optionally, receiving the lifting requirements sent by the scheduling platform and the initial position sent by the associated target tower crane includes: receiving the lifting requirements sent by the scheduling platform via wireless communication, wherein the wireless communication method includes software defined radio SDR communication, 4G communication or 5G communication; receiving the initial position sent by the associated target tower crane via a motor encoder.

Among them, as shown in FIG2, it is a schematic diagram of the application architecture of the edge controller. The edge controller can receive the lifting demand sent by the scheduling platform through wireless communication, and the wireless communication method can specifically use remote IO to transmit information. Among them, the lifting demand is sent by the terminal device to the scheduling platform, and includes at least one lifting target point. For example, the lifting demand may include a lifting start point and a lifting end point, or the lifting demand includes a lifting start point, or the lifting demand includes a lifting end point. The specific number of lifting target points included in the lifting demand is not limited in this embodiment. And the scheduling platform in this embodiment can receive the lifting demand sent by different terminal devices, so the lifting start point and lifting end point obtained by the edge controller can come from different terminal devices respectively. Of course, the lifting start point and lifting end point obtained by the edge controller can also come from the same terminal device. This embodiment does not limit it. As long as the lifting demand containing at least one lifting target point can be obtained, it is within the protection scope of this application, and this embodiment does not limit it.

Among them, since the motor encoder in the tower crane can monitor the target tower crane, the tower crane intelligent control system also includes a sensing device, which is connected to the tower crane edge controller, and specifically receives the initial position sent by the motor encoder of the associated target tower crane through the sensing device, and the sensing device specifically includes sensors, visual devices and radar devices. For example, the types of sensors in this embodiment can specifically include: weight sensors, inclination sensors, height sensors, wind speed sensors, computer vision (CV) recognition sensors, wind direction sensors and anti-collision sensors, etc. Of course, this embodiment is only an example, and does not specifically limit the specific types of sensors.

Step S102, determining a planned path according to the hoisting requirements and the initial position, and controlling the target tower crane to move toward the hoisting target point according to the planned path.

Optionally, a planned path is determined according to the lifting requirements and the initial position, and the target tower crane is controlled to move toward the lifting target point along the planned path, including: determining the planned path according to the lifting requirements and the initial position; determining a first control instruction for the frequency converter matched with the first motor, a second control instruction for the frequency converter matched with the second motor, and a third control instruction for the frequency converter matched with the third motor according to the planned path, and sending the control instructions to the matched frequency converters, so that the frequency converter controls the motor of the target tower crane according to the matched control instructions to drive the target tower crane to move toward the lifting target point along the planned path; wherein the first motor drives the vertical movement of the target tower crane, the second motor drives the forward and backward movement of the target tower crane, and the third motor drives the swing movement of the target tower crane.

Optionally, sending the control instruction to the matched frequency converter includes: sending the first control instruction to the frequency converter matched by the first motor through the first control channel; sending the second control instruction to the frequency converter matched by the second motor through the second control channel; sending the third control instruction to the frequency converter matched by the third motor through the third control channel. Among them, the target tower crane of this embodiment includes three motors, namely the first motor for controlling vertical movement, the second motor for controlling front and rear amplitude movement, and the third motor for controlling rotary movement. Each motor is connected to a matching frequency converter, and the different speeds of the motor are controlled by the different frequencies output by the frequency converter. Therefore, when it is determined that the lifting demand includes the lifting starting point and the lifting end point, the best planning path will be determined according to a preset path planning algorithm, such as a genetic algorithm or an ant colony algorithm, and the control instructions for each frequency converter will be determined according to the planned path and the preset execution time, and the control instructions for each frequency converter will be sent to the frequency converter using different control channels. The control instructions obtained by each frequency converter specifically include direction control instructions and speed control instructions. After receiving the control instruction, each inverter will determine the initial frequency parameters according to the speed or acceleration information required in the control instruction, and send the initial frequency parameters to the matching motor. Each motor will determine the corresponding speed according to the obtained initial frequency parameters and rotate to drive the target tower crane to move according to the planned path.

Step S103, obtaining the operating position of the target tower crane in real time, and adjusting the actual operating path of the target tower crane based on the operating position and the planned path.

Optionally, the operating position of the target tower crane is obtained in real time, and the actual operating path of the target tower crane is adjusted based on the operating position and the planned path, including: obtaining the operating position of the target tower crane sent by the motor encoder in real time; comparing the operating position and the planned path to obtain the operating deviation, and obtaining an adjustment instruction based on the operating deviation; sending the adjustment instruction to the frequency converter of the target tower crane, so that the frequency converter generates an adjustment frequency parameter according to the adjustment instruction, and drives the motor of the target tower crane to perform adjustment operation based on the adjustment frequency parameter.

Specifically, in this embodiment, in the process of the target tower crane running to the lifting target point according to the planned path, the tower crane edge controller will also obtain the running position of the target tower crane in real time, and compare the running position with the planned path to adjust the actual running path, so that the target tower crane can run accurately according to the planned path, thereby safely reaching the lifting target point. The motor encoder in this embodiment can monitor the running state of the motor in real time, so the running position of the lifting target point can be obtained in the process of the target tower crane running to the lifting target point, and the speed information and motor information, such as the speed of the matched motor, etc., are also obtained, and the obtained monitoring information is sent to the tower crane edge controller, so the tower crane edge controller can obtain the monitoring information such as the running position of the target tower crane sent by the motor encoder in real time.

In a specific implementation, after obtaining the operating position, the tower crane edge controller will compare the operating position with the previously obtained planned path to obtain the operating deviation, and determine the adjustment instructions for each frequency converter based on the operating deviation. For example, when it is determined that the horizontal operating position of the target tower crane has no deviation from the corresponding trajectory point of the planned path, only the vertical operating position is 1 cm higher than the corresponding trajectory point of the planned path. At this time, an adjustment instruction for the frequency converter matched with the first motor controlling the vertical operation is generated based on the operating deviation, while no adjustment instruction is required for other frequency converters. Among them, the adjustment instruction can specifically be to maintain an acceleration of 0.1m/s when running downward. Of course, this embodiment is only an example, and the specific content of the adjustment instruction is not limited.

Among them, when the tower crane edge controller determines that the vertical running position needs to be adjusted, the generated adjustment instruction will be sent to the frequency converter matched with the first motor through the first control channel. After obtaining the adjustment instruction, the frequency converter matched with the first motor will generate the adjustment frequency parameter corresponding to the required acceleration according to the adjustment instruction, and send the adjustment frequency parameter to the first motor, so that the first motor determines the speed according to the obtained adjustment frequency parameter and adjusts the rotation to drive the target tower crane to adjust the actual running path. Of course, this embodiment only takes the adjustment of the vertical operation of the target tower crane by adjusting the speed of the first motor as an example. The method of adjusting the actual running trajectory of the target tower crane by adjusting the speed of other motors is roughly the same, and will not be repeated in this embodiment.

Step S104, when it is determined that the target tower crane has reached the target lifting point, an authority transfer instruction is sent to the terminal device, so that the terminal device obtains control over 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.

Optionally, when it is determined that the target tower crane has reached the lifting target point, a permission transfer instruction is sent to the terminal device, including: when it is determined that the distance between the target tower crane and the lifting target point is less than a preset distance, sending a permission transfer instruction to the terminal device.

Optionally, the method also includes: when it is determined that the distance between the target tower crane and the lifting target point exceeds a preset distance, sending an authority revocation transfer instruction to the terminal device; judging whether the target tower crane has completed the planned path, and if so, sending a lifting requirement completion notification to the scheduling platform, otherwise, controlling the target tower crane to continue running according to the remaining planned path.

Specifically, in this embodiment, when it is determined that the target tower crane is at a specified height of the hoisting target point, a permission transfer instruction is sent to the terminal device, wherein the permission 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 hoisting target point is less than 1 meter, a permission transfer instruction is sent to the terminal device. The terminal device obtains control over the target tower crane according to the permission transfer instruction, and opens a communication interface with the target tower crane based on the control authority, and controls the hook-up and hook-down processes 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 hoisting target point exceeds 1 meter, the tower crane edge controller will send a permission reclaim transfer instruction to the terminal device to reclaim the terminal device's control over the target tower crane.

It should be noted that if the lifting demand includes multiple lifting target points, the planned path is usually composed of multiple sub-planned paths. Therefore, after it is determined that the terminal device has taken back the control of the target tower crane, it will be judged whether the target tower crane has completed all the planned paths. If it is determined that the execution is completed, a lifting demand completion notification will be sent to the scheduling platform. If the execution is not completed, it will continue to run, thereby realizing automatic control of the target tower crane's operation process.

The embodiment of the present application can automatically control the target tower crane and complete the lifting task without the need for special scenarios and strict user skill requirements, greatly improving the operating efficiency of the tower crane, and eliminating the cockpit on the tower crane. Only the edge controller on the tower crane can achieve path planning to achieve the purpose of safe operation of the tower crane. Compared with the remote cockpit, there is no need to obtain a panoramic view of the tower crane. In addition, during the operation of the target tower crane, the actual operation path of the target tower crane is adjusted based on the operating position and planned path of the target tower crane to further ensure the safety of operation.

Embodiment 2

FIG3 is a flow chart of a tower crane control method provided by an embodiment of the present invention. Based on the above embodiment, this embodiment specifically describes determining a planned path according to the hoisting requirements and the initial position, and controlling the target tower crane to hoist to the target point along the planned path. As shown in FIG3 , the method specifically includes the following steps:

Step S201, determining a first planned path from the initial position to the lifting starting point and a second planned path from the lifting starting point to the lifting end point according to the lifting starting point and the initial position.

As shown in Figure 4, it is a schematic diagram of the application scenario of the present embodiment, wherein the lifting start point and the lifting end point are sent to the tower crane edge controller by the terminal device A through the scheduling platform. Therefore, when the lifting demand includes both the lifting start point and the lifting end point, when performing path planning, the tower crane edge controller specifically determines the first planned path from the initial position to the lifting start point and the second planned path from the lifting start point to the lifting end point based on the lifting start point and the initial position, that is, based on the obtained lifting demand and the initial position of the target tower crane, an optimal route passing through all lifting target points is determined at the same time.

Step S202: determining a first type of control instruction according to the first planned path and the second planned path.

Among them, a first type of control instructions is determined based on a determined complete optimal route, and the first type of control instructions include a first control instruction for the frequency converter matched with the first motor when running along the optimal route, a second control instruction for the frequency converter matched with the second motor, and a third control instruction for the frequency converter matched with the third motor.

Step S203, sending the first type of control instruction to the inverter of the target tower crane, so that the inverter controls the motor of the target tower crane according to the first type of control instruction to drive the target tower crane to move toward the lifting end point according to the first planned path and the second planned path.

Among them, by sending the first type of control instruction to the inverter of the target tower crane, the inverter controls the motor of the target tower crane according to the first type of control instruction to drive the target tower crane to run to the hoisting target point according to an optimal route composed of the first planned path and the second planned path. The specific method of sending the first control instruction, the second control instruction and the third control instruction included in the first type of control instruction to the inverter of the target tower crane has been described in the above embodiment, and will not be repeated in this embodiment.

Implementation Three

FIG5 is a flow chart of a tower crane control method provided in this embodiment. Based on the above embodiment, this embodiment specifically describes how to determine a planned path according to the hoisting requirements and the initial position, and control the target tower crane to hoist to the target point along the planned path. As shown in FIG5 , the method specifically includes the following steps:

Step S301, determining a first planned path from the initial position to the lifting starting point according to the lifting starting point and the initial position.

As shown in FIG6 , it is a schematic diagram of the application scenario of this embodiment, in which the hoisting starting point is sent to the tower crane edge controller by the terminal device A through the scheduling platform, and the hoisting end point is sent to the tower crane edge controller by the terminal device B through the scheduling platform. Therefore, the hoisting starting point and the hoisting end point in this embodiment are sent by different terminal devices, and specifically, the hoisting demand sent by the terminal device A is first obtained. When performing path planning, the tower crane edge controller specifically determines the first planned path from the initial position to the hoisting starting point based on the hoisting starting point and the initial position.

Step S302: determining a second type of control instruction according to the first planned path.

The second type of control instructions are determined according to the determined first planning path, and the second type of control instructions also include control instructions for the frequency converter matched to each motor. The specific determination method is roughly the same as the above embodiment, and will not be repeated in this embodiment.

Step S303: sending the second type of control instruction to the inverter of the target tower crane, so that the inverter controls the motor of the target tower crane according to the second type of control instruction to drive the target tower crane to run toward the lifting starting point along the first planned path.

Among them, by sending the second type of control instructions to the inverter of the target tower crane, the inverter controls the motor of the target tower crane according to the second type of control instructions to drive the target tower crane to run to the lifting starting point according to the first planned path.

Step S304, receiving the updated lifting requirements sent by the scheduling platform.

Specifically, after the tower crane edge controller sends the second type of control instructions to the frequency converter of the target tower crane, the terminal device B located at the lifting end point can send an updated lifting requirement containing the lifting end point to the scheduling platform and send it to the tower crane edge controller. The corresponding tower crane edge controller will receive the updated lifting requirement sent by the scheduling platform again through the wireless communication method of remote IO.

Step S305, determining a second planned path from the lifting start point to the lifting end point according to the lifting end point and the lifting start point.

Among them, when the tower crane edge controller receives an updated lifting requirement, it will perform path planning again according to the lifting end point included in the updated lifting requirement, and specifically determine the second planned path from the lifting start point to the lifting end point.

Step S306: When it is determined that the distance between the target tower crane and the lifting starting point exceeds the preset distance, a third type of control instruction is determined according to the second planned path.

Among them, when it is determined that the distance between the target tower crane and the lifting starting point exceeds the preset distance, it means that the staff at the lifting starting point have transferred the construction materials to the hook, and the target tower crane is lifting the hook according to the instructions of the terminal device A at the starting point. At this time, the tower crane edge controller will determine the third type of control instructions according to the second planned path determined previously. The third type of control instructions also include control instructions for the frequency converter matched to each motor. The specific determination method is roughly the same as the above embodiment, and will not be repeated in this embodiment.

Step S307, sending the third type of control instruction to the inverter of the target tower crane, so that the inverter controls the motor of the target tower crane according to the third type of control instruction to drive the target tower crane to run toward the hoisting end point along the second planned path.

Among them, by sending the third type of control instructions to the frequency converter of the target tower crane, the frequency converter controls the motor of the target tower crane according to the third type of control instructions to drive the target tower crane to run to the lifting end point according to the second planned path.

Embodiment 4

Fig. 7 is a schematic diagram of the structure of a tower crane control device provided by an embodiment of the present invention. As shown in Fig. 7 , the device includes: a hoisting demand and initial position receiving module 310 , a planning path determining module 320 , a path adjusting module 330 and a hoisting control module 340 .

The hoisting requirement and initial position receiving module 310 is used to receive the hoisting requirement sent by the dispatching platform and the initial position sent by the associated target tower crane, wherein the hoisting requirement is sent by the terminal device to the dispatching platform and includes at least one hoisting target point;

The planned path determination module 320 is used to determine the planned path according to the hoisting requirements and the initial position, and control the target tower crane to move toward the hoisting target point according to the planned path;

A path adjustment module 330 is used to obtain the operating position of the target tower crane in real time, and adjust the actual operating path of the target tower crane based on the operating position and the planned path;

The hoisting control module 340 is used to send an authority transfer instruction to the terminal device when it is determined that the target tower crane has reached the hoisting target point, so that the terminal device obtains control over 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 to control the target tower crane to perform the hoisting work according to the hoisting instruction.

Optionally, a path adjustment module is used to obtain the operating position of the target tower crane sent by the motor encoder in real time;

Compare the running position with the planned path to obtain the running deviation, and obtain the adjustment instruction according to the running deviation;

The adjustment instruction is sent to the frequency converter of the target tower crane, so that the frequency converter generates an adjustment frequency parameter according to the adjustment instruction, and drives the motor of the target tower crane to perform adjustment operation based on the adjustment frequency parameter.

Optionally, a lifting requirement and initial position receiving module is used to receive the lifting requirement sent by the scheduling platform through wireless communication, wherein the wireless communication method includes software defined radio SDR communication, 4G communication or 5G communication;

Receive the initial position sent by the associated target tower crane through the motor encoder.

Optionally, a planning path determination module is used to determine the planning path according to the hoisting requirements and the initial position; determine the first control instruction for the inverter matched with the first motor, the second control instruction for the inverter matched with the second motor, and the third control instruction for the inverter matched with the third motor according to the planning path,

Sending control instructions to the matched frequency converter, so that the frequency converter controls the motor of the target tower crane according to the matched control instructions to drive the target tower crane to run toward the lifting target point according to the planned path;

The first motor drives the vertical movement of the target tower crane, the second motor drives the forward and backward movement of the target tower crane, and the third motor drives the rotary movement of the target tower crane.

Optionally, the planning path determination module is further used to send the first control instruction to the frequency converter matched with the first motor through the first control channel;

Sending the second control instruction to the frequency converter matched with the second motor through the second control channel;

The third control instruction is sent to the frequency converter matched with the third motor through the third control channel.

Optionally, the lifting target point includes the lifting start point and the lifting end point. The lifting demand is sent to the dispatching platform by the terminal device located at the lifting start point.

The planning path determination module is further used to determine a first planning path from the initial position to the lifting starting point and a second planning path from the lifting starting point to the lifting end point according to the lifting starting point and the initial position;

Determine a first type of control instruction according to the first planned path and the second planned path;

The first type of control instruction is sent to the frequency converter of the target tower crane, so that the frequency converter controls the motor of the target tower crane according to the first type of control instruction to drive the target tower crane to run toward the lifting end point according to the first planned path and the second planned path.

Optionally, the lifting target point includes the lifting starting point, and the lifting demand is sent to the dispatching platform by the terminal device located at the lifting starting point.

The planning path determination module is further used to determine a first planning path from the initial position to the lifting starting point according to the lifting starting point and the initial position;

Determine a second type of control instruction according to the first planned path;

The second type of control instruction is sent to the frequency converter of the target tower crane, so that the frequency converter controls the motor of the target tower crane according to the second type of control instruction to drive the target tower crane to run toward the lifting starting point according to the first planned path.

Optionally, the planning path determination module is further used to receive an updated lifting requirement sent by the scheduling platform, wherein the updated lifting requirement is sent to the scheduling platform by a terminal device located at a lifting end point and includes the lifting end point;

Determine a second planned path from the lifting starting point to the lifting end point according to the updated lifting demand and 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, a third type of control instruction is determined according to the second planned path;

The third type of control instruction is sent to the frequency converter of the target tower crane, so that the frequency converter controls the motor of the target tower crane according to the third type of control instruction to drive the target tower crane to run toward the lifting end point according to the second planned path.

Optionally, the hoisting control module is used to send an authority transfer instruction to the terminal device when it is determined that the distance between the target tower crane and the hoisting target point is less than a preset distance.

Optionally, the hoisting control module is further used to send a permission reclaiming transfer instruction to the terminal device when it is determined that the distance between the target tower crane and the hoisting target point exceeds a preset distance;

Determine whether the target tower crane has completed the planned path. If so, send a lifting demand completion notification to the dispatching platform. Otherwise, control the target tower crane to continue running according to the remaining planned path.

The tower crane control device provided in the embodiment of the present invention can execute the tower crane control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

Embodiment 5

FIG8 shows a schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device 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 only examples and are not intended to limit the implementation of the present invention described and/or required herein. As shown in FIG8, the electronic device 10 includes at least one processor 11, and a memory connected to at least one processor 11 in communication, 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 various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. To the bus 14, an input/output (I/O) interface 15 is also connected.

A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16, such as a keyboard, a mouse, 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 electronic device 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, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a tower crane control method.

In some embodiments, the tower crane 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. In some embodiments, part or all of the computer program can be loaded and/or installed on the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the tower crane control method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the tower crane control method in any other appropriate manner (for example, by means of firmware).

Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and/or interpreted on a programmable system including at least one programmable processor, which can 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.

Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions/operations specified in the flow chart and/or block diagram are implemented. The computer program 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.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the 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 may 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: a local area network (LAN), a wide area network (WAN), a 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 corresponding 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 VPS services.

It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (12)

1. The tower crane control method is characterized by being applied to a tower crane edge controller and comprising the following steps of:

Receiving a hoisting demand sent by a dispatching platform and an initial position sent by an associated target tower crane, wherein the hoisting demand is sent to the dispatching platform by terminal equipment and comprises at least one hoisting target point;

determining a planned path according to the hoisting requirement and the initial position, and controlling the target tower crane to run towards the hoisting target point according to the planned path;

Acquiring the running position of the target tower crane in real time, and adjusting the actual running path of the target tower crane based on the running position and the planning path;

When the target tower crane reaches the hoisting target point, sending an authority transfer instruction to the terminal equipment, so that the terminal equipment obtains a control right for the target tower crane according to the authority transfer instruction, and sending a hoisting instruction to the target tower crane based on the control right to control the target tower crane to execute hoisting work according to the hoisting instruction;

wherein the hoisting target point comprises a hoisting starting point and a hoisting end point, the hoisting requirement is sent to the dispatching platform by a terminal device positioned at the hoisting starting point,

Determining a planned path according to the hoisting requirement and the initial position, and controlling the target tower crane to run towards the hoisting target point according to the planned path, wherein the method comprises the following steps:

Determining a first planning path from the initial position to the hoisting start point and a second planning path from the hoisting start point to the hoisting end point according to the hoisting start point and the initial position;

determining a first type of control instruction according to the first planning path and the second planning path;

And sending the first type control instruction to a frequency converter of the target tower crane, so that the frequency converter controls a motor of the target tower crane to drive the target tower crane to run towards the hoisting end point according to the first planning path and the second planning path according to the first type control instruction.

2. The method of claim 1, wherein the acquiring the operational position of the target tower in real time, and adjusting the actual operational path of the target tower based on the operational position and the planned path, comprises:

acquiring the running position of the target tower crane sent by a motor encoder in real time;

Comparing the running position with the planned path to obtain running deviation, and obtaining an adjustment instruction according to the running deviation;

and sending the adjusting instruction to a frequency converter of the target tower crane, so that the frequency converter generates an adjusting frequency parameter according to the adjusting instruction, and driving a motor of the target tower crane to perform adjusting operation based on the adjusting frequency parameter.

3. The method according to claim 1 or 2, wherein receiving the hoisting demand sent by the dispatch platform and the initial position sent by the associated target tower crane comprises:

receiving hoisting requirements sent by a scheduling platform through a wireless communication mode, wherein the wireless communication mode comprises software-defined radio SDR communication, 4G communication or 5G communication;

and receiving the initial position sent by the associated target tower crane through the motor encoder.

4. The method according to claim 1 or 2, wherein determining a planned path according to the hoisting demand and the initial position, and controlling the target tower crane to travel towards the hoisting target point according to the planned path, comprises:

determining a planned path according to the hoisting requirement and the initial position;

determining a first control command for the frequency converter matched with the first motor, a second control command for the frequency converter matched with the second motor and a third control command for the frequency converter matched with the third motor according to the planned path,

The control instruction is sent to the matched frequency converter, so that the frequency converter controls a motor of the target tower crane to drive the target tower crane to operate towards the hoisting target point according to the planning path according to the matched control instruction;

The first motor drives the target tower crane to vertically move, the second motor drives the target tower crane to move back and forth, and the third motor drives the target tower crane to rotate.

5. The method of claim 4, wherein the sending the control instruction to the matched frequency converter comprises:

The first control instruction is sent to a frequency converter matched with the first motor through a first control channel;

The second control instruction is sent to a frequency converter matched with the second motor through a second control channel;

and sending the third control instruction to a frequency converter matched with the third motor through a third control channel.

6. The method of claim 4, wherein the hoisting target point comprises a hoisting origin, the hoisting demand being sent to the dispatch platform by a terminal device located at the hoisting origin,

Determining a planned path according to the hoisting requirement and the initial position, and controlling the target tower crane to run towards the hoisting target point according to the planned path, wherein the method comprises the following steps:

Determining a first planning path from the initial position to the hoisting start point according to the hoisting start point and the initial position;

determining a second type of control instruction according to the first planning path;

And sending the second type control instruction to a frequency converter of the target tower crane, so that the frequency converter controls a motor of the target tower crane to drive the target tower crane to operate towards the hoisting starting point according to the first planning path according to the second type control instruction.

7. The method of claim 6, wherein after the sending the second control command to the frequency converter of the target tower crane, further comprising:

Receiving an updated hoisting demand sent by the dispatching platform, wherein the updated hoisting demand is sent to the dispatching platform by terminal equipment positioned at a hoisting terminal point and comprises the hoisting terminal point;

determining a second planning path from the hoisting start point to the hoisting end point according to the updated hoisting requirement and the hoisting start point;

When the distance between the target tower crane and the hoisting starting point exceeds the preset distance, determining a third type of control instruction according to the second planning path;

and sending the third type control instruction to a frequency converter of the target tower crane, so that the frequency converter controls a motor of the target tower crane to drive the target tower crane to operate towards the hoisting end point according to the second planning path according to the third type control instruction.

8. The method according to claim 1 or 2, wherein the sending a permission transfer instruction to the terminal device when it is determined that the target tower crane reaches the hoisting target point comprises:

And when the distance between the target tower crane and the hoisting target point is smaller than the preset distance, sending an authority issuing transfer instruction to the terminal equipment.

9. The method of claim 8, wherein the method further comprises:

when the distance between the target tower crane and the hoisting target point exceeds the preset distance, sending an authority retraction transfer instruction to the terminal equipment;

And judging whether the target tower crane runs out of the planned path, if so, sending a hoisting demand completion notification to the dispatching platform, otherwise, controlling the target tower crane to continue running according to the remaining planned path.

10. A tower crane control apparatus, comprising:

The hoisting demand and initial position receiving module is used for receiving the hoisting demand sent by the dispatching platform and the initial position sent by the associated target tower crane, wherein the hoisting demand is sent to the dispatching platform by the terminal equipment and comprises at least one hoisting target point;

The planning path determining module is used for determining a planning path according to the hoisting requirement and the initial position and controlling the target tower crane to run towards the hoisting target point according to the planning path;

the path adjustment module is used for acquiring the running position of the target tower crane in real time and adjusting the actual running path of the target tower crane based on the running position and the planned path;

the hoisting control module is used for sending an authority transfer instruction to the terminal equipment when the target tower crane reaches the hoisting target point, so that the terminal equipment obtains 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 as to control the target tower crane to execute hoisting work according to the hoisting instruction;

wherein the hoisting target point comprises a hoisting starting point and a hoisting end point, the hoisting requirement is sent to the dispatching platform by a terminal device positioned at the hoisting starting point,

The planned path determining module is further used for determining a first planned path from the initial position to the hoisting start point and a second planned path from the hoisting start point to the hoisting end point according to the hoisting start point and the initial position;

determining a first type of control instruction according to the first planning path and the second planning path;

And sending the first type control instruction to a frequency converter of the target tower crane, so that the frequency converter controls a motor of the target tower crane to drive the target tower crane to run towards the hoisting end point according to the first planning path and the second planning path according to the first type control instruction.

11. A tower crane edge controller, the tower crane edge controller comprising:

At least one processor; and

A memory communicatively coupled to the at least one processor; wherein,

The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-9.

12. A computer readable storage medium, characterized in that it stores computer instructions for causing a processor to implement the method of any one of claims 1-9 when executed.