Tower crane control method and system based on radar monitoring

Abstract

The invention relates to the technical field of tower cranes, and discloses a tower crane control method and system based on radar monitoring, and the method comprises the following steps: collecting operation instruction information of a tower crane and obstacle state information in the surrounding environment of the tower crane; whether the operation instruction information is adjusted or not is judged according to the operation instruction information and the obstacle state information; if yes, acquiring volume information and motion information of the obstacle, and preliminarily adjusting the operation instruction information according to the volume information and the motion information of the obstacle; whether wind exists in the surrounding environment of the tower crane or not is collected, whether secondary adjustment is conducted on the operation instruction information or not is judged, if secondary adjustment is needed, the operation instruction information is adjusted again according to the wind direction information and the wind speed information, and final operation instruction information is obtained; collision early warning is carried out every time the operation instruction information is adjusted, and collision early warning information and final operation instruction information are stored and displayed on a displayer. The operation safety and stability of the tower crane are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of tower cranes, and in particular to a tower crane control method and system based on radar monitoring. Background Art

[0002] Tower crane is also called tower crane, which originated in Western Europe. It is a rotating crane with the boom installed on the top of the towering tower. It has a large working space and is mainly used for vertical and horizontal transportation of materials and installation of building components in house construction. It consists of three parts: metal structure, working mechanism and electrical system. The metal structure includes the tower body, boom and base. The working mechanism has four parts: lifting, luffing, rotation and walking. The electrical system includes motor, controller, distribution cabinet, connecting line, signal and lighting device, etc. Tower cranes are divided into two categories: upper slewing tower crane and lower slewing tower crane. The former has a higher bearing capacity than the latter. What we see on many construction sites is the upper slewing tower crane with upper jacking and joint height. According to whether it can be moved, it can be divided into walking type and fixed type. The tower body of the fixed tower crane is fixed and does not rotate. It is installed on a whole concrete foundation, or on a strip or X-shaped concrete foundation. The walking type can be divided into four types: crawler type, car type, tire type and track type. In the construction of houses, the fixed type is generally used. According to the luffing mode, it can be divided into two types: horizontal boom trolley luffing and movable boom luffing; according to the installation form, it can be divided into three types: self-erecting, integral quick disassembly and assembly. The most widely used are bottom-slewing, quick disassembly, rail-mounted tower cranes and self-erecting tower cranes that can be used for four purposes (rail-mounted, fixed, attached and internal climbing).

[0003] During the operation of traditional tower cranes, the avoidance of obstacles usually relies on the workers' independent judgment. The influence of wind in the external environment cannot be eliminated. The normal operation of the tower crane is often affected by external factors, and the safety and stability of the operation are low.

[0004] Therefore, it is necessary to provide a tower crane control method and system based on radar monitoring to solve the problems of low safety and stability of tower crane operation in the prior art. Summary of the invention

[0005] In view of this, the present invention proposes a tower crane control method and system based on radar monitoring, aiming to solve the problems of low operating safety and stability of tower cranes in the prior art.

[0006] On the one hand, the present invention proposes a tower crane control method based on radar monitoring, comprising:

[0007] Collecting operation instruction information of the tower crane and obstacle status information in the surrounding environment of the tower crane;

[0008] determining whether to adjust the operation instruction information according to the operation instruction information and the obstacle state information;

[0009] When it is determined to be an adjustment, the obstacle volume information and movement information are obtained, and the operation instruction information is preliminarily adjusted according to the obstacle volume information and movement information; wherein the obstacle movement information includes: distance from the tower crane, movement direction and movement speed;

[0010] Collecting whether there is wind in the surrounding environment of the tower crane, determining whether to make a secondary adjustment to the operation instruction information, and if it is determined that a secondary adjustment is needed, adjusting the operation instruction information again according to the wind direction information and the wind speed information to obtain the final operation instruction information;

[0011] A collision warning is performed each time the operation instruction information is adjusted, and the collision warning information and the final operation instruction information are stored and displayed on a display.

[0012] Further, the determining whether to adjust the operation instruction information according to the operation instruction information and the obstacle state information includes:

[0013] If the obstacle is in a stationary state and is outside the operating range of the tower crane, it is determined that the operation instruction information does not need to be adjusted;

[0014] If the obstacle is in a stationary state and is within the operating range of the tower crane, it is determined that the operation instruction information needs to be adjusted;

[0015] If the obstacle is in motion, it is determined that the operation instruction information needs to be adjusted.

[0016] Furthermore, if the obstacle is in a stationary state and is within the operating range of the tower crane, when it is determined that the operation instruction information needs to be adjusted, the method includes:

[0017] Obtain the three-dimensional size information of the obstacle and calculate the obstacle volume;

[0018] The offset of the tower crane is calculated according to the volume of the obstacle, which is used to adjust the motion trajectory of the tower crane. The calculation formula for the offset of the tower crane is:

[0019]

[0020] In the above formula, △r represents the offset of the tower crane, α represents the adjustment coefficient, V represents the obstacle volume, and Vmax represents the maximum obstacle volume that the tower crane can accept;

[0021] The coordinates of the tower crane at time t in the adjusted motion trajectory are calculated according to the offset of the tower crane; wherein, the coordinate calculation formula of the tower crane at time t in the adjusted motion trajectory is:

[0022] x′(t)=x(t)+Δr·cosθ1·cosθ2;

[0023] y′(t)=y(t)+Δr·sinθ1·sinθ2;

[0024] z′(t)=z(t)+Δr·sinθ1;

[0025] In the above formula, x′(t) represents the x-coordinate of the adjusted motion trajectory of the tower crane at time t, x(t) represents the x-coordinate of the original motion trajectory of the tower crane at time t, △r represents the offset of the tower crane, θ1 represents the horizontal angle of the obstacle relative to the tower crane, θ2 represents the vertical angle of the obstacle relative to the tower crane, y′(t) represents the y-coordinate of the adjusted motion trajectory of the tower crane at time t, y(t) represents the y-coordinate of the original motion trajectory of the tower crane at time t, z′(t) represents the z-coordinate of the adjusted motion trajectory of the tower crane at time t, and z(t) represents the z-coordinate of the original motion trajectory of the tower crane at time t.

[0026] Furthermore, if the obstacle is in a moving state, when it is determined that the operation instruction information needs to be adjusted, it includes:

[0027] The obstacle’s speed v0, horizontal direction θ01, vertical direction θ02, distance d0 from the obstacle to the tower crane, and obstacle volume V are collected to predict the obstacle’s position (x0′, y0′, z0′) at the future time t1. The formula for predicting the obstacle’s position at the future time t1 is:

[0028] x0′(t1)=x0+v0·t1·cosθ01·cosθ02;

[0029] y0′(t1)=y0+v0·t1·sinθ01·sinθ02;

[0030] z0′(t1)=z0+v0·t1·sinθ02;

[0031] In the above formula, x0′(t1) represents the predicted x coordinate of the obstacle in the future time t1, x0 represents the x coordinate of the obstacle at the current moment, v0 represents the speed of the obstacle, t1 represents time, θ01 represents the horizontal movement direction angle, θ02 represents the vertical movement direction angle, y0′(t1) represents the predicted y coordinate of the obstacle in the future time t1, y0 represents the y coordinate of the obstacle at the current moment, z0′(t1) represents the predicted z coordinate of the obstacle in the future time t1, and z0 represents the z coordinate of the obstacle at the current moment;

[0032] Calculate the motion trajectory adjustment Δr1 of the tower crane, where the calculation formula of Δr1 is:

[0033]

[0034] Among them, Δr1 is the adjustment amount of the tower crane's motion trajectory, β is the adjustment coefficient, V represents the obstacle volume, n represents the distance attenuation index, and the value range of n is [1, 3], d0 represents the distance between the obstacle and the tower crane, v0 represents the movement speed of the obstacle, t1 represents time, τ represents the time constant, and the value range of τ is [0.1, 10];

[0035] The calculated adjustment amount Δr1 is used to adjust the motion trajectory of the tower crane at time t2, wherein the coordinate calculation formula of the tower crane at time t2 in the adjusted motion trajectory is:

[0036] x″(t2)=x(t2)+Δr1·cosθ3·cosθ4;

[0037] y″(t2)=y(t2)+Δr1·sinθ3·sinθ4;

[0038] z″(t2)=z(t2)+Δr1·sinθ4;

[0039] In the above formula, x″(t2) represents the x-coordinate of the adjusted motion trajectory of the tower crane at time t2, x(t2) represents the x-coordinate of the original motion trajectory of the tower crane at time t2, Δr1 is the motion trajectory adjustment amount of the tower crane, θ3 represents the angle between the movement direction of the obstacle and the x-axis in the tower crane coordinate system, θ4 represents the angle between the movement direction of the obstacle and the z-axis in the tower crane coordinate system, y″(t2) represents the y-coordinate of the adjusted motion trajectory of the tower crane at time t2, y(t2) represents the y-coordinate of the original motion trajectory of the tower crane at time t2, z″(t2) represents the z-coordinate of the adjusted motion trajectory of the tower crane at time t2, and z(t2) represents the z-coordinate of the original motion trajectory of the tower crane at time t2.

[0040] Further, the collecting of whether there is wind in the surrounding environment of the tower crane and determining whether to make a secondary adjustment to the operation instruction information, if it is determined that a secondary adjustment is required, includes:

[0041] Collect information about whether there is wind in the surrounding environment of the tower crane;

[0042] If there is no wind, it is determined that there is no need to adjust the operation instruction information;

[0043] If there is wind, it is determined that the operation instruction information needs to be adjusted again.

[0044] Furthermore, if there is wind, then it is determined that the operation instruction information needs to be adjusted again, including:

[0045] The wind direction information is collected and the moving direction information of the tower crane is obtained, and the moving speed of the tower crane is adjusted according to the angle difference between the wind direction information and the moving direction information of the tower crane.

[0046] Furthermore, the collecting of wind direction information and obtaining of movement direction information of the tower crane, and adjusting the movement speed of the tower crane according to the angle difference between the wind direction information and the movement direction information of the tower crane, includes:

[0047] Calculate the angle difference between wind direction and crane movement direction:

[0048] Δφ=φw-φt;

[0049] In the above formula, Δφ represents the angular difference between the wind direction and the tower crane movement direction, φw represents the wind direction angle when expressed relative to the north direction, and φt represents the tower crane movement angle when expressed relative to the north direction;

[0050] According to the angle between the wind direction and the tower crane movement direction, the formula for calculating the wind's adjustment of the tower crane's movement speed is:

[0051] vt′=vt·(1-k·cosΔφ);

[0052] In the above formula, vt′ represents the tower crane movement speed adjusted according to the wind direction, vt represents the original movement speed of the tower crane, k represents the coefficient of the influence of wind direction on the tower crane speed, the value range of k is [0, 1], and Δφ represents the angular difference between the wind direction and the tower crane movement direction.

[0053] Furthermore, when the wind direction information is collected and the moving direction information of the tower crane is obtained, and the moving speed of the tower crane is adjusted according to the relationship between the wind direction information and the moving direction information of the tower crane, the method further includes:

[0054] Collect wind speed information. If the wind speed is greater than or equal to level 6, the tower crane will be controlled to stop working and park downwind;

[0055] If the wind force is less than level six, the movement speed of the tower crane will be adjusted according to the wind force information.

[0056] Furthermore, if the wind force is less than level 6, adjusting the movement speed of the tower crane according to the wind force information includes:

[0057] Calculate the tower crane movement speed adjustment coefficient:

[0058] k = vw / vwmax;

[0059] In the above formula, k represents the adjustment coefficient of tower crane movement speed, vw represents wind speed, and vwmax represents the maximum wind speed. When the wind force is less than level 6, vwmax = 11.2 m / s.

[0060] According to the tower crane movement speed adjustment coefficient k, the tower crane movement speed vt′ is adjusted, and the calculation formula of the adjusted tower crane movement speed is:

[0061] vt″=vt′(1-k);

[0062] In the above formula, vt″ represents the tower crane movement speed adjusted according to the wind speed, vt′ represents the tower crane movement speed adjusted according to the wind direction, and k represents the tower crane movement speed adjustment coefficient.

[0063] Compared with the prior art, the present invention has the following beneficial effects:

[0064] First, by collecting the operation instruction information of the tower crane and the status of obstacles in its surrounding environment, potential conflict risks can be identified in real time, and necessary adjustments can be made to prevent collisions. Specifically, the analysis of the obstacle volume and motion information, such as the distance between the obstacle and the tower crane, the direction of motion and the speed, can help determine whether the motion trajectory of the tower crane needs to be adjusted, effectively avoiding possible collisions and ensuring the safety of tower crane operation. After the initial adjustment, it is necessary to further collect wind direction and wind speed information for secondary adjustment. By real-time monitoring of wind direction and wind speed and adjusting the operation instructions based on these data, the impact of wind on the movement of the tower crane can be effectively compensated, thereby reducing the risks that may be caused by wind changes. Each time the operation instruction is adjusted, a collision warning will be issued, and the warning information will be stored and displayed together with the final operation instruction. Not only can the operation instruction be updated in real time, but also clear warning information can be provided to operators, enabling them to respond quickly when facing complex environments and dynamic obstacles. By introducing a collision warning mechanism, the safety of tower crane operation is further improved. In summary, this tower crane control method based on real-time data acquisition and intelligent adjustment not only improves the safety and stability of operation, but also optimizes the operating efficiency of the tower crane through wind compensation and dynamic adjustment. It can effectively respond to challenges in complex environments and provide a solid technical guarantee for the safe operation of the tower crane.

[0065] On the other hand, the present application also provides a tower crane control system based on radar monitoring, comprising:

[0066] A collection module is configured to collect operation instruction information of the tower crane and obstacle status information in the surrounding environment of the tower crane;

[0067] a judgment module, configured to judge whether to adjust the operation instruction information according to the operation instruction information and the obstacle state information;

[0068] The initial adjustment module is configured to obtain the obstacle volume information and movement information when it is determined to be adjusted, and make preliminary adjustments to the operation instruction information according to the obstacle volume information and movement information; wherein the obstacle movement information includes: distance from the tower crane, movement direction and movement speed;

[0069] A secondary adjustment module is configured to collect whether there is wind in the surrounding environment of the tower crane, determine whether to perform secondary adjustment on the operation instruction information, and if it is determined that secondary adjustment is required, adjust the operation instruction information again according to the wind direction information and the wind speed information to obtain the final operation instruction information;

[0070] The display module is configured to perform a collision warning each time the operation instruction information is adjusted, store the collision warning information and the final operation instruction information, and display them on the display.

[0071] It can be understood that the tower crane control method and system based on radar monitoring provided in the present application have the same beneficial effects, which will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0073] Figure 1 A flowchart of a tower crane control method based on radar monitoring provided by an embodiment of the present invention;

[0074] Figure 2 This is a functional block diagram of a tower crane control system based on radar monitoring provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0075] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to be able to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0076] In some embodiments of the present application, see Figure 1 As shown, this embodiment provides a tower crane control method based on radar monitoring, comprising the following steps:

[0077] S100, collecting operation instruction information of the tower crane and obstacle status information in the environment around the tower crane;

[0078] S200, judging whether to adjust the operation instruction information according to the operation instruction information and the obstacle state information;

[0079] S300, when it is determined to be an adjustment, obtaining obstacle volume information and movement information, and making preliminary adjustments to the operation instruction information according to the obstacle volume information and movement information; wherein the obstacle movement information includes: distance from the tower crane, movement direction and movement speed;

[0080] S400, collecting whether there is wind in the environment around the tower crane, determining whether to make a secondary adjustment to the operation instruction information, and if it is determined that a secondary adjustment is required, adjusting the operation instruction information again according to the wind direction information and the wind speed information to obtain the final operation instruction information;

[0081] S500: Perform a collision warning each time the operation instruction information is adjusted, store the collision warning information and the final operation instruction information, and display them on a display.

[0082] It is understandable that, first of all, by collecting the operation instruction information of the tower crane and the status of obstacles in its surrounding environment, potential conflict risks can be identified in real time, and necessary adjustments can be made to prevent collisions. Specifically, the analysis of the obstacle volume and motion information, such as the distance between the obstacle and the tower crane, the direction of movement and the speed, can help determine whether the motion trajectory of the tower crane needs to be adjusted, effectively avoiding possible collisions and ensuring the safety of tower crane operation. After the initial adjustment, it is necessary to further collect wind direction and wind speed information for secondary adjustment. By real-time monitoring of wind direction and wind speed and adjusting the operation instructions based on these data, the impact of wind on the movement of the tower crane can be effectively compensated, thereby reducing the risks that may be caused by wind changes. Each time the operation instruction is adjusted, a collision warning will also be issued, and the warning information will be stored and displayed together with the final operation instruction. Not only can the operation instruction be updated in real time, but also clear warning information can be provided to the operator, so that they can respond quickly when facing complex environments and dynamic obstacles. By introducing a collision warning mechanism, the safety of tower crane operation is further improved. In summary, this tower crane control method based on real-time data acquisition and intelligent adjustment not only improves the safety and stability of operation, but also optimizes the operating efficiency of the tower crane through wind compensation and dynamic adjustment. It can effectively respond to challenges in complex environments and provide a solid technical guarantee for the safe operation of the tower crane.

[0083] Specifically, the operation instruction information includes the tower crane movement speed, tower crane movement trajectory and tower crane movement direction.

[0084] In some embodiments of the present application, judging whether to adjust the operation instruction information according to the operation instruction information and the obstacle state information includes:

[0085] If the obstacle is stationary and outside the operating range of the tower crane, it is determined that there is no need to adjust the operation instruction information;

[0086] If the obstacle is stationary and within the operating range of the tower crane, it is determined that the operation instruction information needs to be adjusted;

[0087] If the obstacle is in motion, it is determined that the operation instruction information needs to be adjusted.

[0088] In some embodiments of the present application, if the obstacle is stationary and within the operating range of the tower crane, it is determined that the operation instruction information needs to be adjusted, including:

[0089] Obtain the three-dimensional size information of the obstacle and calculate the obstacle volume;

[0090] The offset of the tower crane is calculated according to the volume of the obstacle, which is used to adjust the motion trajectory of the tower crane. The calculation formula for the offset of the tower crane is:

[0091]

[0092] In the above formula, △r represents the offset of the tower crane, α represents the adjustment coefficient, V represents the obstacle volume, and Vmax represents the maximum obstacle volume that the tower crane can accept;

[0093] The coordinates of the tower crane at time t in the adjusted motion trajectory are calculated according to the offset of the tower crane; wherein, the coordinate calculation formula of the tower crane at time t in the adjusted motion trajectory is:

[0094] x′(t)=x(t)+Δr·cosθ1·cosθ2;

[0095] y′(t)=y(t)+Δr·sinθ1·sinθ2;

[0096] z′(t)=z(t)+Δr·sinθ1;

[0097] In the above formula, x′(t) represents the x-coordinate of the adjusted motion trajectory of the tower crane at time t, x(t) represents the x-coordinate of the original motion trajectory of the tower crane at time t, △r represents the offset of the tower crane, θ1 represents the horizontal angle of the obstacle relative to the tower crane, θ2 represents the vertical angle of the obstacle relative to the tower crane, y′(t) represents the y-coordinate of the adjusted motion trajectory of the tower crane at time t, y(t) represents the y-coordinate of the original motion trajectory of the tower crane at time t, z′(t) represents the z-coordinate of the adjusted motion trajectory of the tower crane at time t, and z(t) represents the z-coordinate of the original motion trajectory of the tower crane at time t.

[0098] In some embodiments of the present application, if the obstacle is in motion, it is determined that the operation instruction information needs to be adjusted, including:

[0099] The obstacle’s speed v0, horizontal direction θ01, vertical direction θ02, distance d0 from the obstacle to the tower crane, and obstacle volume V are collected to predict the obstacle’s position (x0′, y0′, z0′) at the future time t1. The formula for predicting the obstacle’s position at the future time t1 is:

[0100] x0′(t1)=x0+v0·t1·cosθ01·cosθ02;

[0101] y0′(t1)=y0+v0·t1·sinθ01·sinθ02;

[0102] z0′(t1)=z0+v0·t1·sinθ02;

[0103] In the above formula, x0′(t1) represents the predicted x coordinate of the obstacle in the future time t1, x0 represents the x coordinate of the obstacle at the current moment, v0 represents the speed of the obstacle, t1 represents time, θ01 represents the horizontal movement direction angle, θ02 represents the vertical movement direction angle, y0′(t1) represents the predicted y coordinate of the obstacle in the future time t1, y0 represents the y coordinate of the obstacle at the current moment, z0′(t1) represents the predicted z coordinate of the obstacle in the future time t1, and z0 represents the z coordinate of the obstacle at the current moment;

[0104] Calculate the motion trajectory adjustment Δr1 of the tower crane, where the calculation formula of Δr1 is:

[0105]

[0106] Among them, Δr1 is the adjustment amount of the tower crane's motion trajectory, β is the adjustment coefficient, V represents the obstacle volume, n represents the distance attenuation index, and the value range of n is [1, 3], d0 represents the distance between the obstacle and the tower crane, v0 represents the movement speed of the obstacle, t1 represents time, τ represents the time constant, and the value range of τ is [0.1, 10];

[0107] The calculated adjustment amount Δr1 is used to adjust the motion trajectory of the tower crane at time t2, wherein the coordinate calculation formula of the tower crane at time t2 in the adjusted motion trajectory is:

[0108] x″(t2)=x(t2)+Δr1·cosθ3·cosθ4;

[0109] y″(t2)=y(t2)+Δr1·sinθ3·sinθ4;

[0110] z″(t2)=z(t2)+Δr1·sinθ4;

[0111] In the above formula, x″(t2) represents the x-coordinate of the adjusted motion trajectory of the tower crane at time t2, x(t2) represents the x-coordinate of the original motion trajectory of the tower crane at time t2, Δr1 is the motion trajectory adjustment amount of the tower crane, θ3 represents the angle between the movement direction of the obstacle and the x-axis in the tower crane coordinate system, θ4 represents the angle between the movement direction of the obstacle and the z-axis in the tower crane coordinate system, y″(t2) represents the y-coordinate of the adjusted motion trajectory of the tower crane at time t2, y(t2) represents the y-coordinate of the original motion trajectory of the tower crane at time t2, z″(t2) represents the z-coordinate of the adjusted motion trajectory of the tower crane at time t2, and z(t2) represents the z-coordinate of the original motion trajectory of the tower crane at time t2.

[0112] It can be understood that by considering the horizontal and vertical angles of the obstacle, the motion trajectory of the tower crane is dynamically adjusted for obstacles in static and moving states respectively. When the obstacle is in a static state, the system calculates the offset and corrects the running trajectory of the tower crane based on the three-dimensional size and volume of the obstacle, combined with the relative angle between the tower crane and the obstacle; when the obstacle is in a moving state, the system collects data such as the movement speed and direction of the obstacle, and predicts the future position of the obstacle, and calculates the adjustment amount through parameters such as distance, volume and speed to adjust the trajectory of the tower crane. First, the operational safety is improved. Whether the obstacle is static or moving, collisions can be avoided through accurate calculations; secondly, the accuracy of the operation is enhanced. The tower crane can adaptively adjust the trajectory in real time in a complex environment to reduce human error; finally, the ability to cope with complex working conditions is improved. By introducing multiple angles and motion parameters, it ensures that the tower crane can flexibly cope with challenges in various working environments.

[0113] Specifically, according to the specific application requirements and environmental characteristics, an appropriate n value can be selected. For example, in some specific engineering applications, if the impact of the obstacle volume on the tower crane decreases quickly with increasing distance, a larger n value, such as 3, is selected. If the impact decays slowly, a smaller n value, such as 1 or 2, is selected.

[0114] In some embodiments of the present application, whether there is wind in the surrounding environment of the tower crane is collected, and whether the operation instruction information is to be adjusted for the second time is determined. If it is determined that the second adjustment is required, it includes:

[0115] Collect information about whether there is wind in the environment around the tower crane;

[0116] If there is no wind, it is determined that there is no need to adjust the operation instruction information;

[0117] If there is wind, it is determined that the operation instruction information needs to be adjusted again.

[0118] In some embodiments of the present application, if there is wind, then it is determined that the operation instruction information needs to be readjusted, including:

[0119] Collect wind direction information and obtain the movement direction information of the tower crane, and adjust the movement speed of the tower crane according to the angle difference between the two.

[0120] In some embodiments of the present application, collecting wind direction information and acquiring movement direction information of the tower crane, and adjusting the movement speed of the tower crane according to the angle difference between the wind direction information and the movement direction information of the tower crane include:

[0121] Calculate the angle difference between wind direction and crane movement direction:

[0122] Δφ=φw-φt;

[0123] In the above formula, Δφ represents the angular difference between the wind direction and the tower crane movement direction, φw represents the wind direction angle when expressed relative to the north direction, and φt represents the tower crane movement angle when expressed relative to the north direction;

[0124] According to the angle between the wind direction and the tower crane movement direction, the formula for calculating the wind's adjustment of the tower crane's movement speed is:

[0125] vt′=vt·(1-k·cosΔφ);

[0126] In the above formula, vt′ represents the tower crane movement speed adjusted according to the wind direction, vt represents the original movement speed of the tower crane, k represents the coefficient of the influence of wind direction on the tower crane speed, the value range of k is [0, 1], and Δφ represents the angular difference between the wind direction and the tower crane movement direction.

[0127] In some embodiments of the present application, when collecting wind direction information and acquiring movement direction information of the tower crane, and adjusting the movement speed of the tower crane according to the relationship between the wind direction information and the tower crane, the following steps are also included:

[0128] Collect wind speed information. If the wind speed is greater than or equal to level 6, the tower crane will be controlled to stop working and park downwind;

[0129] If the wind force is less than level six, the movement speed of the tower crane will be adjusted according to the wind force information.

[0130] In some embodiments of the present application, if the wind force is less than level 6, adjusting the movement speed of the tower crane according to the wind force information includes:

[0131] Calculate the tower crane movement speed adjustment coefficient:

[0132] k = vw / vwmax;

[0133] In the above formula, k represents the adjustment coefficient of tower crane movement speed, vw represents wind speed, and vwmax represents the maximum wind speed. When the wind force is less than level 6, vwmax = 11.2 m / s.

[0134] According to the tower crane movement speed adjustment coefficient k, the tower crane movement speed vt′ is adjusted, and the calculation formula of the adjusted tower crane movement speed is:

[0135] vt″=vt′(1-k);

[0136] In the above formula, vt″ represents the tower crane movement speed adjusted according to the wind speed, vt′ represents the tower crane movement speed adjusted according to the wind direction, and k represents the tower crane movement speed adjustment coefficient.

[0137] It can be understood that the present invention further improves the safety and stability of tower cranes in complex environments. First, by collecting wind direction information and the direction of tower crane movement, calculating the angle difference between the two, and adjusting the movement speed of the tower crane based on the angle difference, the influence of wind on the movement of the tower crane can be effectively compensated. In particular, when the wind speed is lower than level 6, the adjustment coefficient k of the wind speed on the movement speed of the tower crane ensures that the tower crane can make appropriate speed adjustments according to the real-time wind speed, avoiding the negative impact of wind on the stability of the tower crane. When the wind speed reaches or exceeds level 6, the scheme controls the tower crane to stop working and park it downwind to ensure the safe operation of the tower crane under extreme weather conditions. This multi-level adjustment mechanism ensures the operational stability of the tower crane by comprehensively considering the wind direction, wind speed and its influence on the movement of the tower crane, reduces the operational risks caused by wind changes, and thus improves the overall operation safety and efficiency.

[0138] On the other hand, see Figure 2 As shown, the present application also provides a tower crane control system based on radar monitoring, which is used to apply the tower crane control method based on radar monitoring, including:

[0139] A collection module is configured to collect operation instruction information of the tower crane and obstacle status information in the surrounding environment of the tower crane;

[0140] A judgment module is configured to judge whether to adjust the operation instruction information according to the operation instruction information and the obstacle state information;

[0141] The initial adjustment module is configured to obtain the obstacle volume information and movement information when it is determined to be adjusted, and make preliminary adjustments to the operation instruction information according to the obstacle volume information and movement information; wherein the obstacle movement information includes: distance from the tower crane, movement direction and movement speed;

[0142] The secondary adjustment module is configured to collect whether there is wind in the surrounding environment of the tower crane, determine whether to make a secondary adjustment to the operation instruction information, and if it is determined that a secondary adjustment is needed, adjust the operation instruction information again according to the wind direction information and the wind speed information to obtain the final operation instruction information;

[0143] The display module is configured to issue a collision warning each time the operation instruction information is adjusted, store the collision warning information and the final operation instruction information, and display them on the display.

[0144] It can be understood that, first of all, the acquisition module ensures the real-time acquisition of the tower crane operation instruction information and the obstacle status information in the surrounding environment, providing key data support for subsequent intelligent adjustments. By accurately acquiring this information, possible risk sources can be identified in a timely manner to ensure the safe operation of the tower crane in a dynamic environment. Based on data acquisition, the judgment module is responsible for judging whether the operation instruction needs to be adjusted according to the operation instruction information and obstacle status information, and can identify potential conflicts, so as to take preventive measures before the problem occurs, thereby improving the initiative and safety of the operation. When the judgment module determines that adjustment is required, the primary adjustment module makes preliminary adjustments based on the volume information and motion information of the obstacle. The motion information of the obstacle includes the distance from the tower crane, the direction of movement and the speed, which directly affect the operation trajectory of the tower crane. By analyzing and calculating this information, the motion trajectory of the tower crane can be accurately adjusted to avoid obstacles and reduce the risk of collision. Furthermore, the secondary adjustment module makes secondary adjustments to the operation instruction by collecting wind direction and wind speed information. Changes in wind force have a significant impact on the stability of the tower crane. Therefore, adjusting the operating instructions according to the real-time wind direction and wind speed helps to compensate for the interference of wind force on the movement of the tower crane and ensure the smooth operation of the tower crane under various wind conditions. Finally, the display module performs a collision warning every time the operating instructions are adjusted, and stores and displays the collision warning information and the final operating instructions. It not only provides real-time warning information for operators to help them respond quickly, but also records all data during the adjustment process, providing an important basis for subsequent analysis and improvement. In summary, this multi-module collaborative control solution greatly improves the safety and operating efficiency of tower cranes in complex environments through real-time data acquisition, intelligent adjustment and collision warning. It effectively responds to potential risks such as obstacle collision and wind impact, and provides comprehensive technical support for tower crane operation.

[0145] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0146] The present application is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0147] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0148] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0149] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A tower crane control method based on radar monitoring, characterized in that: include: Collecting operation instruction information of the tower crane and obstacle status information in the surrounding environment of the tower crane; determining whether to adjust the operation instruction information according to the operation instruction information and the obstacle state information; When it is determined to be an adjustment, the obstacle volume information and movement information are obtained, and the operation instruction information is preliminarily adjusted according to the obstacle volume information and movement information; wherein the obstacle movement information includes: distance from the tower crane, movement direction and movement speed; Collecting whether there is wind in the surrounding environment of the tower crane, determining whether to make a secondary adjustment to the operation instruction information, and if it is determined that a secondary adjustment is needed, adjusting the operation instruction information again according to the wind direction information and the wind speed information to obtain the final operation instruction information; A collision warning is performed each time the operation instruction information is adjusted, and the collision warning information and the final operation instruction information are stored and displayed on a display.

2. The tower crane control method based on radar monitoring according to claim 1 is characterized in that: The determining whether to adjust the operation instruction information according to the operation instruction information and the obstacle state information includes: If the obstacle is in a stationary state and is outside the operating range of the tower crane, it is determined that the operation instruction information does not need to be adjusted; If the obstacle is in a stationary state and is within the operating range of the tower crane, it is determined that the operation instruction information needs to be adjusted; If the obstacle is in motion, it is determined that the operation instruction information needs to be adjusted.

3. The tower crane control method based on radar monitoring according to claim 2 is characterized in that: If the obstacle is in a stationary state and is within the operating range of the tower crane, it is determined that the operation instruction information needs to be adjusted, including: Obtain the three-dimensional size information of the obstacle and calculate the obstacle volume; The offset of the tower crane is calculated according to the volume of the obstacle, which is used to adjust the motion trajectory of the tower crane. The calculation formula for the offset of the tower crane is: In the above formula, △r represents the offset of the tower crane, α represents the adjustment coefficient, V represents the obstacle volume, and Vmax represents the maximum obstacle volume that the tower crane can accept; The coordinates of the tower crane at time t in the adjusted motion trajectory are calculated according to the offset of the tower crane; wherein, the coordinate calculation formula of the tower crane at time t in the adjusted motion trajectory is: x′(t)=x(t)+Δr·cosθ1·cosθ2; y′(t)=y(t)+Δr·sinθ1·sinθ2; z′(t)=z(t)+Δr·sinθ1; In the above formula, x′(t) represents the x-coordinate of the adjusted motion trajectory of the tower crane at time t, x(t) represents the x-coordinate of the original motion trajectory of the tower crane at time t, △r represents the offset of the tower crane, θ1 represents the horizontal angle of the obstacle relative to the tower crane, θ2 represents the vertical angle of the obstacle relative to the tower crane, y′(t) represents the y-coordinate of the adjusted motion trajectory of the tower crane at time t, y(t) represents the y-coordinate of the original motion trajectory of the tower crane at time t, z′(t) represents the z-coordinate of the adjusted motion trajectory of the tower crane at time t, and z(t) represents the z-coordinate of the original motion trajectory of the tower crane at time t.

4. The tower crane control method based on radar monitoring according to claim 2 is characterized in that: If the obstacle is in a moving state, when it is determined that the operation instruction information needs to be adjusted, it includes: The obstacle’s speed v0, horizontal direction θ01, vertical direction θ02, distance d0 from the obstacle to the tower crane, and obstacle volume V are collected to predict the obstacle’s position (x0′, y0′, z0′) at the future time t1. The formula for predicting the obstacle’s position at the future time t1 is: x0′(t1)=x0+v0·t1·cosθ01·cosθ02; y0′(t1)=y0+v0·t1·sinθ01·sinθ02; z0′(t1)=z0+v0·t1·sinθ02; In the above formula, x0′(t1) represents the predicted x coordinate of the obstacle in the future time t1, x0 represents the x coordinate of the obstacle at the current moment, v0 represents the speed of the obstacle, t1 represents time, θ01 represents the horizontal movement direction angle, θ02 represents the vertical movement direction angle, y0′(t1) represents the predicted y coordinate of the obstacle in the future time t1, y0 represents the y coordinate of the obstacle at the current moment, z0′(t1) represents the predicted z coordinate of the obstacle in the future time t1, and z0 represents the z coordinate of the obstacle at the current moment; Calculate the motion trajectory adjustment Δr1 of the tower crane, where the calculation formula of Δr1 is: Among them, Δr1 is the adjustment amount of the tower crane's motion trajectory, β is the adjustment coefficient, V represents the obstacle volume, n represents the distance attenuation index, and the value range of n is [1, 3], d0 represents the distance between the obstacle and the tower crane, v0 represents the movement speed of the obstacle, t1 represents time, τ represents the time constant, and the value range of τ is [0.1, 10]; The calculated adjustment amount Δr1 is used to adjust the motion trajectory of the tower crane at time t2, wherein the coordinate calculation formula of the tower crane at time t2 in the adjusted motion trajectory is: x″(t2)=x(t2)+Δr1·cosθ3·cosθ4; y″(t2)=y(t2)+Δr1·sinθ3·sinθ4; z″(t2)=z(t2)+Δr1·sinθ4; In the above formula, x″(t2) represents the x-coordinate of the adjusted motion trajectory of the tower crane at time t2, x(t2) represents the x-coordinate of the original motion trajectory of the tower crane at time t2, Δr1 is the motion trajectory adjustment amount of the tower crane, θ3 represents the angle between the movement direction of the obstacle and the x-axis in the tower crane coordinate system, θ4 represents the angle between the movement direction of the obstacle and the z-axis in the tower crane coordinate system, y″(t2) represents the y-coordinate of the adjusted motion trajectory of the tower crane at time t2, y(t2) represents the y-coordinate of the original motion trajectory of the tower crane at time t2, z″(t2) represents the z-coordinate of the adjusted motion trajectory of the tower crane at time t2, and z(t2) represents the z-coordinate of the original motion trajectory of the tower crane at time t2.

5. The tower crane control method based on radar monitoring according to claim 4 is characterized in that: The collecting whether there is wind in the surrounding environment of the tower crane and determining whether to make a secondary adjustment to the operation instruction information, if it is determined that a secondary adjustment is required, includes: Collect information about whether there is wind in the surrounding environment of the tower crane; If there is no wind, it is determined that there is no need to adjust the operation instruction information; If there is wind, it is determined that the operation instruction information needs to be adjusted again.

6. The tower crane control method based on radar monitoring according to claim 5 is characterized in that: If there is wind, it is determined that the operation instruction information needs to be adjusted again, including: The wind direction information is collected and the moving direction information of the tower crane is obtained, and the moving speed of the tower crane is adjusted according to the angle difference between the wind direction information and the moving direction information of the tower crane.

7. The tower crane control method based on radar monitoring according to claim 6 is characterized in that: The collecting of wind direction information and obtaining of movement direction information of the tower crane, and adjusting the movement speed of the tower crane according to the angle difference between the wind direction information and the movement direction information of the tower crane, comprises: Calculate the angle difference between wind direction and crane movement direction: Δφ=φw-φt; In the above formula, Δφ represents the angular difference between the wind direction and the tower crane movement direction, φw represents the wind direction angle when expressed relative to the north direction, and φt represents the tower crane movement angle when expressed relative to the north direction; According to the angle between wind direction and tower crane movement direction, the formula for calculating wind adjustment on tower crane movement speed is: vt′=vt·(1-k·cosΔφ); In the above formula, vt′ represents the tower crane movement speed adjusted according to the wind direction, vt represents the original movement speed of the tower crane, k represents the coefficient of the influence of wind direction on the tower crane speed, the value range of k is [0, 1], and Δφ represents the angular difference between the wind direction and the tower crane movement direction.

8. The tower crane control method based on radar monitoring according to claim 7 is characterized in that: When the wind direction information is collected and the moving direction information of the tower crane is obtained, and the moving speed of the tower crane is adjusted according to the relationship between the wind direction information and the moving direction information of the tower crane, the method further includes: Collect wind speed information. If the wind speed is greater than or equal to level 6, the tower crane will be controlled to stop working and park downwind; If the wind force is less than level six, the movement speed of the tower crane will be adjusted according to the wind force information.

9. The tower crane control method based on radar monitoring according to claim 8, characterized in that: If the wind force is less than level 6, the movement speed of the tower crane is adjusted according to the wind force information, including: Calculate the tower crane movement speed adjustment coefficient: k = vw / vwmax; In the above formula, k represents the tower crane movement speed adjustment coefficient, vw represents the wind speed, and vwmax represents the maximum wind speed. When the wind force is less than level 6, vwmax = 11.2 m / s. According to the tower crane movement speed adjustment coefficient k, the tower crane movement speed vt′ is adjusted, and the calculation formula of the adjusted tower crane movement speed is: vt″=vt′(1-k); In the above formula, vt″ represents the tower crane movement speed adjusted according to the wind speed, vt′ represents the tower crane movement speed adjusted according to the wind direction, and k represents the tower crane movement speed adjustment coefficient.

10. A tower crane control system based on radar monitoring, used for applying a tower crane control method based on radar monitoring as claimed in any one of claims 1 to 9, characterized in that: include: A collection module is configured to collect operation instruction information of the tower crane and obstacle status information in the surrounding environment of the tower crane; a judgment module, configured to judge whether to adjust the operation instruction information according to the operation instruction information and the obstacle state information; The initial adjustment module is configured to obtain the obstacle volume information and movement information when it is determined to be adjusted, and make preliminary adjustments to the operation instruction information according to the obstacle volume information and movement information; wherein the obstacle movement information includes: distance from the tower crane, movement direction and movement speed; A secondary adjustment module is configured to collect whether there is wind in the surrounding environment of the tower crane, determine whether to perform secondary adjustment on the operation instruction information, and if it is determined that secondary adjustment is required, adjust the operation instruction information again according to the wind direction information and the wind speed information to obtain the final operation instruction information; The display module is configured to perform a collision warning each time the operation instruction information is adjusted, store the collision warning information and the final operation instruction information, and display them on the display.

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