Method and system for automatically driving a tower crane to quickly specify a loading and unloading position of a hoisted object

Abstract

The present application relates to the technical field of construction safety, and more particularly to a method and system for automatically driving a tower crane to quickly specify the loading and unloading positions of a hoisted object, comprising the following steps: establishing a one-to-one correspondence between a pixel point two-dimensional polar coordinate system and a construction map, and determining the actual height of the pixel point to form a three-dimensional space coordinate point; according to the construction requirements, setting the three-dimensional space coordinate point on a mobile control terminal to form a lifting point and a landing point; the tower crane central control system moves the hook to the lifting area and the landing area according to the space coordinates of the lifting point and the landing point and a hoisting process matrix; in the hoisting process, the tower crane central control system drives the tower crane to automatically avoid obstacles according to the obstacle information sensed by the hook sensor; the micro-motion controller moves with the hook from the lifting area to the landing area, and in the lifting area and the landing area, the micro-motion controller is used to finely adjust the hook to the accurate position. The present application is used to solve the problem that the automatic driving of the tower crane cannot quickly locate the lifting point and the landing point.

Description

Technical Field

[0001] This invention relates to the field of construction safety technology, and in particular to a method and system for quickly specifying the loading and unloading positions of materials in automatic tower crane operation. Background Technology

[0002] On construction sites, tower cranes serve different work teams, such as rebar teams, carpentry teams, bricklaying teams, pipe fitting teams, and scaffolding teams. The loading locations for tower cranes vary, including around the crane and within its working radius, such as where rebar is stored, where material transport vehicles are parked, and where scaffolding is stored. The unloading locations vary, including different buildings, different floors within the same building, and different work surfaces on the same floor. Enabling the central control system of the tower crane to know the appropriate lifting and unloading locations to meet the user's needs presents a significant challenge for the automated tower crane operation.

[0003] Currently, tower cranes are operated manually, with the lifting and lowering points determined by human judgment. This has blind spots and visual errors, and if the judgment is inaccurate, the tower crane operator has to operate repeatedly to reach the loading and unloading points. Due to the operating characteristics of tower cranes, the hook swings back and forth, which has inertia and is prone to swaying, causing accidents.

[0004] Therefore, the present invention provides a method and system for quickly specifying the loading and unloading positions of tower cranes in automatic operation, which facilitates communication with different users and accurately locates the loading and unloading positions. Summary of the Invention

[0005] This invention addresses the shortcomings of existing technologies by developing a method and system for quickly specifying the loading and unloading positions of tower cranes in automatic operation, thus solving the problem of existing tower cranes being unable to accurately position themselves.

[0006] The technical solution of this invention to solve the technical problem is as follows:

[0007] A method for quickly designating the loading and unloading positions of a tower crane in automatic operation includes the following steps:

[0008] (1) On the map of the mobile control terminal, determine the position of the tower crane body and the working range of the tower crane. Mark the center O with the tower crane body as the center and establish a two-dimensional polar coordinate system. Mark the radius R with the length of the tower arm as the working range. Determine the construction map within the working range. Divide the construction map into pixels. Divide the construction map into k pixels. The pixels correspond one-to-one with the two-dimensional polar coordinates in the construction map. Manually input the height h of the object in the construction map corresponding to the pixel to form a three-dimensional spatial coordinate point (r, θ, h).

[0009] (2) Tower crane users and tower crane managers jointly determine the location of the lifting area and the unloading area based on construction needs through information exchange. The tower crane manager sets three-dimensional spatial coordinate points on the mobile control terminal to form the lifting point and unloading point matrix, as well as the lifting process matrix, by setting the working radius and working height.

[0010] (3) The tower crane central control system moves the hook to the lifting area and the unloading area in sequence according to the spatial coordinates of the lifting point and the unloading point and the lifting process matrix;

[0011] (4) During the hoisting process, the tower crane automatically plans the path, avoids obstacles, and moves automatically based on the obstacle information on the travel route sensed by the sensor.

[0012] (5) The micro-controller moves with the hook from the lifting area to the unloading area. In the lifting area and the unloading area, the micro-controller is used to fine-tune the hook to the precise position.

[0013] In step (1), on the construction map, take the center of the tower body as the center O, take the geomagnetic north direction as north and mark it as 0 degrees, rotate clockwise for one full turn as 360 degrees, and establish a planar polar coordinate system with the center as the center and the length of the tower arm as the maximum radius. Any planar position point within the range of the length of the tower arm can be denoted as (r,θ).

[0014] Let x be the number of pixels horizontally from any pixel to the center O of the circle, and y be the number of pixels vertically from any pixel to the center O. The total number of pixels from any pixel to the center of the circle is... The amplitude of the hook is The rotation angle θ in the first quadrant is The second quadrant is The third quadrant is The fourth quadrant is

[0015] Taking the tower crane base as the zero point of height, the arbitrary height of the hook is denoted as h, and the position of the hook is denoted as (r, θ, h).

[0016] In step (2), the user and the tower crane manager establish communication and jointly confirm the lifting area and unloading area according to the construction needs. The tower crane manager sets the lifting point and unloading point by setting preset points on the mobile control terminal. and material drop point Each point corresponds to a different polar coordinate spatial location point, thereby determining the preset point to be called and establishing the hoisting process. Then, the mobile control terminal transmits the preset point information and the hoisting process matrix information to the central control system.

[0017] The lifting point matrix is ​​as follows:

[0018]

[0019] The simplified representation of the column matrix is ​​as follows:

[0020]

[0021] Where 1 to n are the lifting point numbers, indicating which lifting point is being lifted. The three-dimensional polar coordinates of the lifting point. This represents the angle θ that has been rotated clockwise from due north. This represents the distance from the projection of a spatial coordinate point onto the 0 horizontal plane to the center O of the circle. This represents the vertical distance of a spatial coordinate point from the 0 horizontal plane.

[0022] The material drop point matrix is ​​as follows:

[0023]

[0024] The simplified representation of the column matrix is ​​as follows:

[0025]

[0026] The transpose of the drop point matrix is:

[0027] [B1B2B3……B m ]

[0028] Wherein, 1 to m are the drop point numbers, indicating which drop point is being dropped. The three-dimensional polar coordinates of the material drop point. This represents the angle θ that has been rotated clockwise from due north. This represents the distance from the projection of a spatial coordinate point onto the 0 horizontal plane to the center O of the circle. This represents the vertical distance of a spatial coordinate point from the 0 horizontal plane.

[0029] The lifting process matrix from the lifting point to the unloading point is as follows:

[0030]

[0031] Where A n B m This represents the hoisting process from the nth lifting point to the mth unloading point.

[0032] In step (5), the micro controller moves with the hook from the lifting area to the unloading area. During the first lifting, the reel of the stretchable steel wire is fixed on the lifting rope or the object below the hook, and the micro controller is fixed on the stretchable steel wire rope. When the object is lifted, the reel of the steel wire rope is stretched to a certain length, so that the user in the lifting area and the unloading area can remove the micro controller.

[0033] After the hook reaches the lifting area, the user can remove the micro-controller to fine-tune the position of the hook and adjust the position of the hook to the precise lifting point. When the load is lifted, the micro-controller is hung on the wire rope of the reel and stretched to a certain length. The micro-controller and the hook move together to the unloading area.

[0034] Upon reaching the unloading area, the user removes the micro-controller below the hook again to fine-tune the hook position, adjusting it to the precise location. After unloading, the same method is used to move the micro-controller with the hook to the next lifting process.

[0035] This invention also provides a system for quickly designating the loading and unloading positions of tower cranes in automatic operation, comprising the following modules:

[0036] Map processing module: Determines the construction map based on the tower crane's working range, divides the construction map into pixel-level sections, and establishes a three-dimensional polar coordinate system with the direction perpendicular to the construction map as the height coordinate axis, where one spatial location point corresponds to one three-dimensional polar coordinate point;

[0037] Human-Machine Interface Module: Tower crane managers set lifting points and material drop points according to construction needs, and establish one or more lifting processes from lifting points to material drop points according to construction needs;

[0038] Data processing module: Receives data from map processing module and human-machine interface module, combines the data from the two modules to obtain lifting point matrix, material drop point matrix and lifting process matrix, and transmits the results to central control module;

[0039] Central control module: responsible for receiving, storing and processing lifting point matrix, material drop point matrix and lifting process matrix, and controlling the tower crane to automatically plan the path, automatically avoid obstacles and automatically travel.

[0040] Furthermore, the automated tower crane loading and unloading system includes the following hardware components: hook sensor, mobile control terminal, micro-motion controller, and wireless communication between the hook sensor, mobile control terminal, micro-motion controller and central control system.

[0041] The present invention also provides a server, comprising:

[0042] One or more processors;

[0043] A storage device for storing one or more programs that, when executed by one or more processors, cause the one or more processors to implement a rack hit method as described in a method for automated loading and unloading of tower cranes.

[0044] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a rack-hitting method as described in the method for automated loading and unloading of tower cranes.

[0045] The effects described in the invention are merely those of the embodiments, and not all the effects of the invention. The above technical solutions have the following advantages or beneficial effects:

[0046] The locations of the hoisted objects are distributed across multiple positions on the tower crane, solving the problem of hoisting and unloading materials at different locations when different work surfaces, different floors, different buildings, and different work teams share the tower crane.

[0047] In this invention, the handheld micro-controller is suspended below the hook. The handheld micro-controller can follow the hook to any position on the tower crane's working surface. The shading solves the problem of positioning the tower crane's lifting point and material drop point, which saves manpower and improves the tower crane's working efficiency. Attached Figure Description

[0048] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0049] Figure 1 This is a schematic diagram of the method flow of the present invention.

[0050] Figure 2 This is the hoisting process management page of the present invention. Detailed Implementation

[0051] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] Example 1

[0053] like Figure 1 A method for quickly specifying the loading and unloading position of a tower crane in automatic tower crane operation includes the following steps:

[0054] (1) On the map of the mobile control terminal, determine the position of the tower crane body and the working range of the tower crane. Mark the center O with the tower crane body as the center and establish a two-dimensional polar coordinate system. Mark the radius R with the length of the tower arm as the working range. Determine the construction map within the working range. Divide the construction map into pixels. Divide the construction map into k pixels. The pixels correspond one-to-one with the two-dimensional polar coordinates in the construction map. Manually input the height h of the object in the construction map corresponding to the pixel to form a three-dimensional spatial coordinate point (r, θ, h).

[0055] (2) Tower crane users and tower crane managers jointly determine the location of the lifting area and the unloading area based on construction needs through information exchange. The tower crane manager sets three-dimensional spatial coordinate points on the mobile control terminal to form the lifting point and unloading point matrix, as well as the lifting process matrix, by setting the working radius and working height.

[0056] (3) The tower crane central control system moves the hook to the lifting area and the unloading area in sequence according to the spatial coordinates of the lifting point and the unloading point and the lifting process matrix;

[0057] (4) During the hoisting process, the tower crane automatically plans the path, avoids obstacles, and moves automatically based on the obstacle information on the travel route sensed by the sensor.

[0058] (5) The micro-controller moves with the hook from the lifting area to the unloading area. In the lifting area and the unloading area, the micro-controller is used to fine-tune the hook to the precise position.

[0059] In step (1), on the construction map, take the center of the tower body as the center O, take the geomagnetic north direction as north and mark it as 0 degrees, rotate clockwise for one full turn as 360 degrees, and establish a planar polar coordinate system with the center as the center and the length of the tower arm as the maximum radius. Any planar position point within the range of the length of the tower arm can be denoted as (r,θ).

[0060] Let x be the number of pixels horizontally from any pixel to the center O of the circle, and y be the number of pixels vertically from any pixel to the center O. The total number of pixels from any pixel to the center of the circle is... The luffing of the hook is The rotation angle θ in the first quadrant is The second quadrant is The third quadrant is The fourth quadrant is

[0061] Taking the tower crane base as the zero point of height, the arbitrary height of the hook is denoted as h, and the position of the hook is denoted as (r, θ, h).

[0062] In step (2), the user and the tower crane manager establish communication and jointly confirm the lifting area and unloading area according to the construction needs. The tower crane manager sets the lifting point and unloading point by setting preset points on the mobile control terminal. and material drop point Each point corresponds to a different polar coordinate spatial location point, thereby determining the preset point to be called and establishing the hoisting process. Then, the mobile control terminal transmits the preset point information and the hoisting process matrix information to the central control system.

[0063] The lifting point matrix is ​​as follows:

[0064]

[0065] The simplified representation of the column matrix is ​​as follows:

[0066]

[0067] Where 1 to n are the lifting point numbers, indicating which lifting point is being lifted. The three-dimensional polar coordinates of the lifting point. This represents the angle θ that has been rotated clockwise from due north. This represents the distance from the projection of a spatial coordinate point onto the 0 horizontal plane to the center O of the circle. H represents the vertical distance H from a spatial coordinate point to the 0 horizontal plane.

[0068] The material drop point matrix is ​​as follows:

[0069]

[0070] The simplified representation of the column matrix is ​​as follows:

[0071]

[0072] The transpose of the drop point matrix is:

[0073] [B1B2B3……B m ]

[0074] Wherein, 1 to m are the drop point numbers, indicating which drop point is being dropped. The three-dimensional polar coordinates of the material drop point. This represents the angle θ that has been rotated clockwise from due north. This represents the distance from the projection of a spatial coordinate point onto the 0 horizontal plane to the center O of the circle. This represents the vertical distance of a spatial coordinate point from the 0 horizontal plane.

[0075] The lifting process matrix from the lifting point to the unloading point is as follows:

[0076]

[0077] Where A n B m This represents the hoisting process from the nth lifting point to the mth unloading point.

[0078] In step (5), the micro controller moves with the hook from the lifting area to the unloading area. During the first lifting, the reel of the stretchable steel wire is fixed on the lifting rope or the object below the hook, and the micro controller is fixed on the stretchable steel wire rope. When the object is lifted, the reel of the steel wire rope is stretched to a certain length, so that the user in the lifting area and the unloading area can remove the micro controller.

[0079] After the hook reaches the lifting area, the user can remove the micro-controller to fine-tune the position of the hook and adjust the position of the hook to the precise lifting point. When the load is lifted, the micro-controller is hung on the wire rope of the reel and stretched to a certain length. The micro-controller and the hook move together to the unloading area.

[0080] Upon reaching the unloading area, the user removes the micro-controller below the hook again to fine-tune the hook position, adjusting it to the precise location. After unloading, the same method is used to move the micro-controller with the hook to the next lifting process.

[0081] like Figure 2 On the mobile control terminal, the operation of setting preset points to form lifting and unloading areas, calling preset points, and establishing lifting procedures is transmitted to the tower crane central control system through a wireless link. The tower crane central control system then performs specific lifting tasks sequentially according to the lifting procedure matrix.

[0082] Setting up lifting and unloading areas: Lifting and unloading areas are set up by adding preset points. On the main page of the mobile control terminal, by selecting any position within the tower crane's working radius on the map, the slewing angle and luffing distance information are obtained. The height of the preset point is adjusted using the height scale in the preset point "editing interface" to form the preset point. Preset points can be deleted by clicking "delete" in the preset point "editing interface". Preset points can also be modified by adjusting the slewing angle, luffing distance, and height position information in the preset point "editing interface" and then saving. Any point within the tower crane's working radius can be set as a preset point. The spatial area of ​​the lifting and unloading areas can be modified in the lifting parameters interface.

[0083] The lifting and unloading areas are confirmed by calling preset points: On the home page of the mobile control terminal, select any saved preset point and click "activate" in the pop-up window to call the preset point. After the preset point is called, the central control system executes the corresponding tower crane automatic driving according to the call information to complete the lifting task. On the main page of the mobile control terminal, unsaved preset points can also be called. After the preset point is called and activated, the central control system executes the corresponding automatic driving according to the call information to complete the lifting task. After the lifting task is completed, the preset point is automatically cleared and is not retained in the preset point matrix.

[0084] Based on the confirmed locations of the lifting and unloading areas, establish the lifting process: On the mobile control terminal homepage, in the lifting process task bar, you can add processes, adjust the number of times a process is executed, and adjust the execution priority of a process.

[0085] Example 2

[0086] This invention also provides a system for quickly designating the loading and unloading positions of tower cranes in automatic operation, comprising the following modules:

[0087] Map processing module: Determines the construction map based on the tower crane's working range, divides the construction map into pixel-level sections, and establishes a three-dimensional polar coordinate system with the direction perpendicular to the construction map as the height coordinate axis, where one spatial location point corresponds to one three-dimensional polar coordinate point;

[0088] Human-Machine Interface Module: Tower crane managers set lifting points and material drop points according to construction needs, and establish one or more lifting processes from lifting points to material drop points according to construction needs;

[0089] Data processing module: Receives data from map processing module and human-machine interface module, combines the data from the two modules to obtain lifting point matrix, material drop point matrix and lifting process matrix, and transmits the results to central control module;

[0090] Central control module: responsible for receiving, storing and processing lifting point matrix, material drop point matrix and lifting process matrix, and controlling the tower crane to automatically plan the path, automatically avoid obstacles and automatically travel.

[0091] Furthermore, the automated tower crane loading and unloading system includes the following hardware components: hook sensor, mobile control terminal, micro-motion controller, and wireless communication between the hook sensor, mobile control terminal, micro-motion controller and central control system.

[0092] Example 3

[0093] The present invention also provides a server, comprising:

[0094] One or more processors;

[0095] A storage device for storing one or more programs that, when executed by one or more processors, cause the one or more processors to implement a rack hit method as described in a method for automated loading and unloading of tower cranes.

[0096] Example 4

[0097] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a rack-hitting method as described in the method for automated loading and unloading of tower cranes.

[0098] Although the specific embodiments of the invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the invention. Based on the technical solutions of the invention, various modifications or variations that can be made by those skilled in the art without creative effort are still within the scope of protection of the invention.

Claims

1. A method for rapidly specifying the loading and unloading position of a tower crane in automatic tower crane operation, characterized in that, Includes the following steps: (1) On the map of the mobile control terminal, determine the location of the tower crane and the working range of the tower crane, and mark the center of the circle with the tower crane as the center. A two-dimensional polar coordinate system was established, with the tower arm length as the radius for calibrating the working range. Define the construction map within the work area, divide the construction map into pixel-level sections, and then divide the construction map into... Each pixel corresponds one-to-one with a two-dimensional polar coordinate in the construction map. The height of each pixel in the construction map is manually input. This forms a three-dimensional spatial coordinate point. ; In step (1), the center of the tower body is used as the center of the circle on the construction map. North is marked as the magnetic north pole, and 0 degrees is the reference point. A full clockwise rotation (360 degrees) is used to establish a planar polar coordinate system centered on the center of the circle and with the tower arm length as the maximum radius. Any planar point within the tower arm length can be denoted as... ; any pixel horizontally to the center of the circle The number of pixels is denoted as Vertical direction to the center of the circle The number of pixels is denoted as The number of pixels from any pixel to the center of the circle is The amplitude of the hook is Rotation angle In the first quadrant The second quadrant is The third quadrant is The fourth quadrant is ; Taking the tower crane base as the zero point of height, any height at which the hook is located is denoted as... The location of the hook is determined and recorded as . ; (2) The tower crane user and tower crane manager jointly determine the location of the lifting area and the unloading area based on the construction needs through information exchange. The tower crane manager sets three-dimensional spatial coordinate points on the mobile control terminal to form the lifting point and unloading point matrix, and the lifting process matrix is ​​formed by combining the setting of the working radius and working height. In step (2), the user and the tower crane manager establish communication and jointly confirm the lifting area and unloading area according to the construction needs. The tower crane manager sets the lifting point and unloading point by setting preset points on the mobile control terminal. The lifting point ( ) and drop point ( Each point corresponds to a different polar coordinate spatial location point, thereby determining the preset point to be called and establishing the hoisting process. Then, the mobile control terminal transmits the preset point information and the hoisting process matrix information to the central control system. The lifting point matrix is ​​as follows: The simplified representation of the column matrix is ​​as follows: Among them, 1 'n' is the lifting point number, indicating which lifting point it is. The three-dimensional polar coordinates of the lifting point. This indicates the angle rotated clockwise from due north. , This represents the distance from the projection of a spatial coordinate point onto the 0 horizontal plane to the center O of the circle. This represents the vertical distance of a spatial coordinate point from the 0 horizontal plane. ; The material drop point matrix is ​​as follows: The simplified representation of the column matrix is ​​as follows: The transpose of the drop point matrix is: Among them, 1 'm' is the drop point number, indicating which drop point it is. The three-dimensional polar coordinates of the material drop point. This indicates the angle rotated clockwise from due north. , This represents the distance from the projection of a spatial coordinate point onto the 0 horizontal plane to the center O of the circle. This represents the vertical distance of a spatial coordinate point from the 0 horizontal plane. ; The lifting process matrix from the lifting point to the unloading point is as follows: in, This represents the hoisting process from the nth lifting point to the mth unloading point; (3) The tower crane central control system moves the hook to the lifting area and the unloading area in sequence according to the spatial coordinates of the lifting point and the unloading point and the lifting process matrix; (4) During the hoisting process, the tower crane automatically plans the path, avoids obstacles, and moves automatically based on the obstacle information on the travel route sensed by the sensor. (5) The micro controller moves with the hook from the lifting area to the unloading area. In the lifting area and the unloading area, the micro controller is used to fine-tune the hook to the precise position.

2. The method for quickly specifying the loading and unloading position of a tower crane in automatic operation according to claim 1, characterized in that: In step (5), the micro controller moves with the hook from the lifting area to the unloading area. During the first lifting, the reel of the stretchable steel wire is fixed on the lifting rope or the object below the hook, and the micro controller is fixed on the stretchable steel wire rope. When the object is lifted, the reel of the steel wire rope is stretched to a certain length, so that the user in the lifting area and the unloading area can remove the micro controller. After the hook reaches the lifting area, the user can remove the micro-controller to fine-tune the position of the hook and adjust the position of the hook to the precise lifting point. When the load is lifted, the micro-controller is hung on the wire rope of the reel and stretched to a certain length. The micro-controller and the hook move together to the unloading area. Upon reaching the unloading area, the user removes the micro-controller below the hook again to fine-tune the hook position, adjusting it to the precise location. After unloading, the same method is used to move the micro-controller with the hook to the next lifting process.

3. A system for rapidly designating the loading and unloading position of a tower crane in automatic operation, comprising executing the method for rapidly designating the loading and unloading position of a tower crane in automatic operation as described in any one of claims 1 to 2, characterized in that, Includes the following modules: Map processing module: Determines the construction map based on the tower crane's working range, divides the construction map into pixel-level sections, and establishes a three-dimensional polar coordinate system with the direction perpendicular to the construction map as the height coordinate axis, where one spatial location point corresponds to one three-dimensional polar coordinate point; Human-Machine Interface Module: Tower crane managers set lifting points and material drop points according to construction needs, and establish one or more lifting processes from lifting points to material drop points according to construction needs; Data processing module: Receives data from map processing module and human-machine interface module, combines the data from the two modules to obtain lifting point matrix, material drop point matrix and lifting process matrix, and transmits the results to central control module; Central control module: responsible for receiving, storing and processing the lifting point matrix, material drop point matrix and lifting process matrix, and controlling the tower crane to automatically plan the path, automatically avoid obstacles and automatically travel.

4. The system for quickly designating the loading and unloading position of a tower crane in automatic operation according to claim 3, characterized in that, It includes the following hardware components: The system includes a hook sensor, a mobile control terminal, and a micro-motion controller, which communicate wirelessly with the central control system.

5. A server, characterized in that, include: One or more processors; A storage device for storing one or more programs that, when executed by one or more processors, cause the one or more processors to implement the method for rapidly specifying the loading and unloading position of a tower crane in automatic tower crane operation as described in any one of claims 1 to 2.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by the processor, the program implements the method for quickly specifying the loading and unloading position of the tower crane's automatic driving system as described in any of claims 1 to 2.

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