Tower group system and tower group hoisting path optimization method

Abstract

The invention discloses a group tower system and a group tower hoisting path optimization method, which belongs to the technical field of tower crane automatic control. The technical problem to be solved by the invention is how to increase the safety of tower cranes while improving the working efficiency of group towers and reducing labor costs. The technical scheme adopted is: comprising a tower crane body and an intelligent control terminal, the tower crane body comprising a tower crane mechanical structure, a PLC controller, a frequency converter, a motor and a transmission mechanism, an encoder, five limit devices and various sensors, a tower crane end controller is arranged on the tower crane body, and the tower crane end controller adopts a multi-functional interface board to be electrically connected with the PLC controller, the frequency converter, the motor and the transmission mechanism, the encoder, the five limit devices and various sensors respectively and to exchange information; a gun-type or spherical camera is also arranged on the tower crane body, and the camera is used for monitoring and remote transmission of a hook, a cab and a winch; the intelligent control terminal comprises an intelligent control handheld terminal and a 3D holographic imaging device.

Description

Technical Field

[0001] The invention relates to the technical field of automatic control of tower cranes, in particular to a tower group system and a tower group hoisting path optimization method. Background Art

[0002] Tower cranes are key mechanical equipment in construction work. Tower cranes can be seen everywhere in building construction sites, which can effectively save manpower, reduce construction costs and improve construction progress. However, due to the high position of the tower crane cab, the vision of the tower crane operator is greatly limited. There are also buildings and obstacles in the site, and blind lifting and mountain lifting often occur. The driver can only work based on experience in combination with the instructions of the ground personnel. The blindness and high difficulty of operation have certain safety hazards. At the same time, the tower crane driver repeats the work for a long time in the narrow high-altitude cab, which is prone to fatigue. In addition, the group tower operation requires multiple drivers to lift the goods in turn. Once the goods are lost in the middle of the journey, it is difficult to track them in real time. In addition, the tower crane lifting operation is still one tower and one driver. When some tower cranes are working, due to sequential transportation, the subsequent drivers may have to wait for the goods to be received. The idle time can be considered as the driver's invalid working time. The increase in waiting time can be considered as a decrease in work efficiency, and the labor cost of the tower crane driver is relatively increased.

[0003] Therefore, how to increase the safety of tower cranes, improve the work efficiency of tower cranes, and reduce labor costs is a technical problem that needs to be solved urgently. Summary of the invention

[0004] The technical task of the present invention is to provide a tower group system and a tower group hoisting path optimization method to solve the problem of how to increase the safety of tower cranes while improving the working efficiency of tower groups and reducing labor costs.

[0005] The technical task of the present invention is achieved in the following manner: a group tower system, including a tower crane body and an intelligent control terminal, the tower crane body including a tower crane mechanical structure, a PLC controller, a frequency converter, a motor and a transmission mechanism, an encoder, five limit devices and various sensors, a tower crane end controller is arranged on the tower crane body, and the tower crane end controller adopts a multi-functional interface board to be electrically connected with the PLC controller, the frequency converter, the motor and the transmission mechanism, the encoder, the five limit devices and various sensors respectively and to exchange information; a gun-type or spherical camera is also arranged on the tower crane body, and the camera is used to monitor and remotely transmit the hook, the cab and the winch; the tower crane mechanical structure is a group tower composed of a plurality of single tower cranes;

[0006] The intelligent control terminal includes an intelligent control handheld terminal and a 3D holographic imaging device; the intelligent control handheld terminal is used for two-way high-speed communication with the tower crane body using a 3G / 4G / 5G or WIFI module; the 3D holographic imaging device is used to calculate the status data transmitted from the tower crane body and the status data of the intelligent control handheld terminal, and transmit them to the display screen through wired or wireless communication for display.

[0007] The tower crane body also includes a cab and a joystick.

[0008] Preferably, the tower crane body is also provided with a 360° panoramic camera and a 3D or planar laser radar. The gun-type or spherical camera, the 360° panoramic camera, the 3D laser radar and the planar laser radar are electrically connected to the tower crane end controller respectively. The gun-type or spherical camera, the 360° panoramic camera, the 3D laser radar and the planar laser radar communicate with the intelligent control terminal in two-way high-speed manner through a 3G / 4G / 5G or WIFI module.

[0009] More preferably, the 360° panoramic camera is located on the tower crane body, the 3D laser radar is located around the detection boundary, and the planar laser radar and gun-type / spherical cameras are located at corresponding positions on the tower bodies of the group of towers.

[0010] More preferably, the sensors include a gravity sensor (to detect the hanging weight), a height sensor (to detect the hook height) and a wind speed and direction sensor.

[0011] Preferably, the intelligent control handheld terminal has a built-in high-performance microprocessor, and is connected to an accelerometer or gyroscope, a GPS RTK positioning module, a battery and charging circuit, a joystick, buttons, an LCD touch screen and corresponding interfaces; the interfaces include a USB interface, an Ethernet interface and an RS-485 interface.

[0012] A group tower crane transportation path optimization method, the specific steps of the method are as follows:

[0013] S1. Establish a three-dimensional grid model of the tower group construction site under three-dimensional space coordinates, generate a grid node set and generate a coordinate matrix (taking an n*m area as an example, generate an m*n zero matrix);

[0014] S2, determining the optimal arrangement method of the tower group according to the grid node set generated in step S1, and obtaining the installation coordinates and other parameters of the tower crane standard section on the ground;

[0015] S3, generating an obstacle point set U0 according to obstacles and grid node sets in the construction site;

[0016] S4. Obtain the coordinates of the lifting starting point S and the lifting end point G in rectangular coordinates, which are (XS, YS, ZS) and (XG, YG, ZG) respectively;

[0017] S5. Plan a lifting path from the lifting starting point S to the lifting end point G according to the lifting starting point S, the lifting end point G, the grid node set, the obstacle point set U0 and the preset lifting path planning strategy.

[0018] Preferably, the method for generating a grid node set to determine the optimal arrangement of the tower groups in step S2 is as follows:

[0019] S201, determining the available free positions of the tower group construction site (excluding necessary positions such as operation roads) according to the grid node set generated in step S1, and generating an unavailable coordinate array from the coordinates of the unavailable positions;

[0020] S202, according to the available free positions of the tower construction site in step S201 (excluding necessary positions such as operation roads), set Q transfer station areas (rough relay points in the area, and accurate in subsequent steps), assign the corresponding position of the coordinate matrix to the variable 1, and the remaining available coordinates are still assigned 0;

[0021] S203, bringing the unavailable coordinate array generated in step S201 into the coordinate matrix generated in step S1, assigning the corresponding position of the coordinate matrix to variable 2, and keeping the other coordinates unchanged;

[0022] S204, the coordinate matrix assigned by step S202 and step S203 is fully covered for the numbers that are 0 in the coordinate matrix (the entire area can be fully covered) and the precise position of the transfer station is confirmed, so that all transfer stations (relay points) are at the same installation coordinate position on the ground from all adjacent tower crane standard sections;

[0023] S205, obtain the installation coordinates of all tower crane standard sections on the ground, determine the tower crane arm length, determine the number of tower crane standard sections according to the required working height of the tower crane, and after the number of standard sections is confirmed, confirm whether adjacent tower cranes are at different heights (to prevent collision):

[0024] If it does not meet the requirements, the number of standard sections shall be re-determined;

[0025] S206. After all data are initially determined, check whether they meet the requirements:

[0026] If it does not meet the requirements, return to step S201 and start again until the verification passes.

[0027] Preferably, the optimization method of the lifting path in step S5 is as follows:

[0028] S501, after step S206 is completed, the priority of the goods is graded (manually / automatically), and the importance of the goods is divided into n levels. When multiple paths are working at the same tower crane point at the same time, the goods will be lifted in sequence according to the order of priority. When the same priority setting occurs, the goods will be lifted in sequence according to the first-come-first-served order (manual control) or the nearest-first-served order (automatic control);

[0029] S502, using a breadth first search algorithm to divide the total path into an optimization method based on the hoisting paths of each tower crane;

[0030] S503: After determining the optimal path, the required tower cranes are controlled in sequence, and a single person controls all the tower cranes on the entire path in sequence until the target site (destination) is reached.

[0031] Preferably, the single person in step S503 sequentially controls all tower cranes in the overall path as follows:

[0032] S5031. Each demand site uses an intelligent control handheld terminal (handheld PDA) to call the backend to confirm the required goods and issue an order;

[0033] S5032. Obtain the outbound location and unloading location (coordinates) for the background freight order. Once the goods arrive at the outbound location (shipping point), they can be shipped. At the same time, the background issues a transshipment reminder to the tower crane driver assigned to this order.

[0034] S5033. If the 3D holographic imaging device of the tower crane driver is connected normally and the identity is verified, the tower crane driver can be reminded when the goods arrive at the scheduled delivery point. The projection device supporting the 3D holographic imaging device starts working, and the joystick permission is enabled in the background to start the transfer of the order. Among them, the identity verification is correct as follows: the identity verification code is entered in the background. If the input is wrong multiple times or the verification fails, the order will be automatically re-sent to the remaining online drivers. The scheduled delivery point refers to manual confirmation or confirmation using an electronic tag. When the built-in positioning module in the electronic tag shows that the distance between the delivery point and the object is within 5m, or the delivery personnel use the smart control handheld terminal to confirm;

[0035] S5034, the gyroscope monitors the position of the cargo controlled by the tower crane driver in real time, and enables the real-time navigation function for the cargo route, that is, obtaining the location of the cargo at fixed time intervals and comparing it with the background simulation trajectory:

[0036] When there is a large error beyond 20m, the tower group system will automatically give an alarm and confirm the driver's status;

[0037] When the error reaches 50m, the tower group system will automatically alarm and freeze the order;

[0038] When there is a risk of a tower crane losing control, that is, the 3D holographic imaging device stops transmitting real-time images, the driver's authority is taken over without authorization, or the tower crane sensor data is abnormal, the group tower system will automatically freeze the order. At this time, the order priority is the highest priority (top level), and the goods will be automatically placed at the nearest storage point (safe point) waiting for external takeover. After professional personnel deal with it, enter the authorization code and resume control. When the line is normal, when the driver lifts the goods from the n-1 transfer station to the nth transfer station, the group tower system will automatically switch the driver to the next tower crane perspective, and start the next tower crane control after the cargo loading and unloading is completed until the cargo arrives at the designated location.

[0039] Preferably, the optimization method of dividing the total path into hoisting paths based on each tower crane by using the breadth first search algorithm in step S502 is as follows:

[0040] S5021. According to the starting position data of the delivery point, with the delivery point as the center and a fixed length as the radius (eg: the longest tower crane rotation diameter in the entire construction site), search for the positions of the rotation centers of all nearby tower cranes and obtain the coordinates;

[0041] S5022. According to the position of the tower crane rotation center and the position of the delivery point, the distance between the center of the nearby available tower cranes (non-occupied state, which can be considered as occupied state when the tower crane is working) and the starting position is confirmed, the distances are sorted from small to large, all possible tower cranes are selected as the first tower crane group, and the position of each first tower crane in the first tower crane group is confirmed;

[0042] S5023, according to the position of the first tower crane, taking the rotation center of the first tower crane as the center of the circle and a fixed distance (the diameter of the first tower crane) as the radius, searching for the rotation center of the second tower crane, taking all the tower cranes searched as the second tower crane alternatives, calculating the rotation center of each second tower crane alternative and the rotation center of the first tower crane, if the straight-line distance between the centers of the two tower cranes is greater than the sum of the radii of the two tower cranes, the alternative can be determined as the second tower crane;

[0043] S5024. According to the positions of all second tower cranes, a second tower crane list is calculated, the second tower crane list includes all tower cranes that meet the calculation requirements in step S5023, and the tower cranes in the second tower crane list are compared with the delivery address:

[0044] If the delivery address is within the rotation radius of the second tower crane, the search ends;

[0045] If the delivery address is not within the rotation radius of the second tower crane, the next search is performed;

[0046] S5025, obtaining the location of the next tower crane and listing it through steps S5023 and S5024, until the target receiving point is found;

[0047] S5026. Obtain all feasible paths from the shipping point to the receiving point by using a breadth-first algorithm;

[0048] S5027. Calculate a capacity matrix according to the number of cargo commands of all tower cranes on a target path, where the target path is any one of all feasible paths.

[0049] S5028. According to the shortest distance required for transportation between tower cranes on the target path, a capacity matrix, a distance matrix and a time matrix are calculated, and an optimal route is obtained from all feasible paths according to the capacity matrix, the distance matrix and the time matrix;

[0050] Among them, the distance matrix includes the required number of tower cranes, the rotation angle of a single tower crane and the tower crane operation path; the tower crane operation path refers to moving toward the center while rotating or directly rotating to the angle and then moving; the time matrix refers to the tower crane transportation time and the ferry time required for multiple tower cranes to load and unload goods; the capacity matrix is ​​calculated based on the number of cargo-carrying commands of all tower cranes on the target path, specifically referring to the number of commands that can be arranged sequentially on a single tower crane and the number of commands that can be carried simultaneously. For example, if two paths need to use a single tower crane at the same time, if two goods can be transported together, then it is called the number of commands carried simultaneously, and the number of commands carried sequentially is how many transfer commands need to be waited after this transfer path, which is the sequential carrying command.

[0051] The tower group system and the tower group hoisting path optimization method of the present invention have the following advantages:

[0052] (1) The present invention has the advantages of increasing safety and reliability, improving work efficiency, and reducing labor costs. By changing the existing operation mode, the tower crane operation is changed to the travel path operation, which effectively reduces the number of drivers and saves a lot of labor costs. At the same time, the 3D holographic imaging device is used to match the projection device for remote control, which avoids the driver climbing up the tower crane for operation, saves the driver's physical labor, and allows the driver to perform the operation task more easily. The device uses a computer to plan the transfer path, which can make the transfer path the most optimized path, making the transfer efficiency higher, and making the cargo transfer under the existing conditions more meet the needs;

[0053] (ii) The present invention provides assistance to the driver by collecting the parameters and video images of the tower crane operation, thereby reducing the visual blind spot;

[0054] (III) The intelligent control handheld terminal (handheld PDA) of the present invention has an authority control function (password, face, fingerprint, etc.), and can perform one-to-one, many-to-one, one-to-many and many-to-many control with the tower crane.

[0055] Therefore, the invention has the characteristics of reasonable design, simple structure, easy processing, small size, convenient use, multi-purpose, etc., and thus has good promotion and use value. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The present invention is further described below in conjunction with the accompanying drawings.

[0057] Attached Figure 1 It is a schematic diagram of the tower group system;

[0058] Attached Figure 2 This is the structural diagram of the main body of the medium tower crane;

[0059] Attached Figure 3 It is the structural block diagram of the intelligent control terminal;

[0060] Attached Figure 4 The figure is a flow chart of the optimization method for crane transportation paths of a group of towers. DETAILED DESCRIPTION

[0061] The tower group system and the tower group hoisting path optimization method of the present invention are described in detail below with reference to the accompanying drawings and specific embodiments of the specification.

[0062] Embodiment 1:

[0063] As attached Figure 1 and 2 As shown, this embodiment provides a group tower system, whose structure includes a tower crane body and an intelligent control terminal. The tower crane body includes a tower crane mechanical structure, a PLC controller, a frequency converter, a motor and a transmission mechanism, an encoder, a five-limit device and various sensors. The tower crane body is provided with a tower crane end controller, and the tower crane end controller uses a multi-functional interface board to be electrically connected with the PLC controller, the frequency converter, the motor and the transmission mechanism, the encoder, the five-limit device and various sensors respectively and to exchange information; the tower crane mechanical structure is a group tower composed of a number of single tower cranes; the tower crane body is also provided with a gun-type or spherical camera, which is used to monitor and remotely transmit the hook, the cab and the winch. Among them, the sensors include a gravity sensor (to detect the hoisting weight), a height sensor (to detect the hook height) and a wind speed and direction sensor.

[0064] As attached Figure 3 As shown, the intelligent control terminal in this embodiment includes an intelligent control handheld terminal and a 3D holographic imaging device; the intelligent control handheld terminal is used for two-way high-speed communication with the tower crane body using a 3G / 4G / 5G or WIFI module; the 3D holographic imaging device is used to calculate the status data transmitted from the tower crane body and the status data of the intelligent control handheld terminal, and transmit them to the display screen through wired or wireless communication for display.

[0065] The tower crane body in this embodiment also includes a cab, a joystick, a 360° panoramic camera and a 3D or plane laser radar. The gun-type or spherical camera, the 360° panoramic camera, the 3D laser radar and the plane laser radar are electrically connected to the tower crane end controller respectively. The gun-type or spherical camera, the 360° panoramic camera, the 3D laser radar and the plane laser radar communicate with the intelligent control terminal in two-way high-speed communication through a 3G / 4G / 5G or WIFI module. The 360° panoramic camera is located on the tower crane body, the 3D laser radar is located around the detection boundary, and the plane laser radar and the gun-type / spherical camera are located at the corresponding positions of the tower body of the group tower.

[0066] The intelligent control handheld terminal in this embodiment has a built-in high-performance microprocessor, and is connected to an acceleration sensor or a gyroscope, a GPS RTK positioning module, a battery and a charging circuit, a joystick, a button, an LCD touch screen and corresponding interfaces; the interfaces include a USB interface, an Ethernet interface and an RS-485 interface.

[0067] Embodiment 2:

[0068] This embodiment provides a method for optimizing the path of a group tower crane, and the specific steps of the method are as follows:

[0069] S1. Establish a three-dimensional grid model of the tower group construction site under three-dimensional space coordinates, generate a grid node set and generate a coordinate matrix (taking an n*m area as an example, generate an m*n zero matrix);

[0070] S2, determining the optimal arrangement method of the tower group according to the grid node set generated in step S1, and obtaining the installation coordinates and other parameters of the tower crane standard section on the ground;

[0071] S3, generating an obstacle point set U0 according to obstacles and grid node sets in the construction site;

[0072] S4. Obtain the coordinates of the lifting starting point S and the lifting end point G in rectangular coordinates, which are (XS, YS, ZS) and (XG, YG, ZG) respectively;

[0073] S5. According to the lifting starting point S, the lifting end point G, the grid node set, the obstacle point set U0 and the preset lifting path planning strategy, the lifting path from the lifting starting point S to the lifting end point G is planned. To achieve the above steps, a three-dimensional model of the construction site in rectangular coordinates can be established. The three-dimensional model can be established by oblique photography combined with image analysis technology or three-dimensional laser scanning modeling. The implementation process of oblique photography combined with image analysis technology may include: (1) arranging a number of video surveillance cameras around the building body and the tower crane; the video surveillance camera is used to collect on-site images of the building body and the tower crane, and the video surveillance camera is fixedly installed to facilitate the maintenance of a shooting angle during the image collection process. (2) The video surveillance camera collects on-site images; (3) The on-site images taken by the video surveillance camera are analyzed to generate a three-dimensional model of the construction site in rectangular coordinates; the tower cranes, buildings, etc. captured in the on-site images are extracted, and the tower cranes, buildings, etc. are restored in proportion according to the location and image size, and finally the three-dimensional model of this embodiment is determined.

[0074] After the three-dimensional model of the construction site in rectangular coordinates is established, the three-dimensional model is converted into a three-dimensional grid model, and the grid node set is determined by setting the plane grid accuracy (for example, less than or equal to 1m). The three-dimensional grid model of this embodiment is established in rectangular coordinates, and may include: (1) using the boundary of the tower group workspace as the X and Y axes of the rectangular coordinates, and the direction along the standard section of the tower crane as the Z axis; (2) rounding the coordinates of all positions to integers;

[0075] In order to ensure that the objects lifted by the tower crane do not collide with obstacles in the construction site during the lifting operation, it is necessary to determine the obstacle point set U0 based on the grid node set and the location, size and shape of the obstacles in the construction site.

[0076] At the same time, the group control system is used for control. The 3D laser radar is located around the detection boundary, and the plane laser radar and camera are located on the tower body of the group tower. The 3D holographic imaging device and the supporting projection device, the rocker group, the PLC controller, the 3D laser radar, the plane laser radar, and the camera are connected to the control main board. The control main board is connected to the PLC controller, and the PLC controller controls the tower body of the group tower. The group control system includes: 3D holographic imaging device and supporting projection device, rocker group, control main board, PLC controller, 3D laser radar, plane laser radar, tower body of the group tower, camera, gyroscope; Among them: 3D laser radar is used to monitor the working environment of the group tower, conduct three-dimensional mapping to establish spatial coordinates, and monitor the position of obstacles. The plane laser radar is used to be installed on the tower body to monitor whether it will collide with the adjacent tower crane during lifting; during control, the tower crane driver monitors the state of the controlled tower crane in real time through the 3D holographic imaging device supporting projection device, and at the same time controls the rocker group to send signals to the control main board, and the control main board realizes the posture adjustment of the tower crane by controlling the PLC controller.

[0077] The method for generating a grid node set to determine the optimal arrangement of the tower groups in step S2 of this embodiment is specifically as follows:

[0078] S201, determining the available free positions of the tower group construction site (excluding necessary positions such as operation roads) according to the grid node set generated in step S1, and generating an unavailable coordinate array from the coordinates of the unavailable positions;

[0079] S202, according to the available free positions of the tower construction site in step S201 (excluding necessary positions such as operation roads), set Q transfer station areas (rough relay points in the area, and accurate in subsequent steps), assign the corresponding position of the coordinate matrix to the variable 1, and the remaining available coordinates are still assigned 0;

[0080] S203, bringing the unavailable coordinate array generated in step S201 into the coordinate matrix generated in step S1, assigning the corresponding position of the coordinate matrix to variable 2, and keeping the other coordinates unchanged;

[0081] S204, the coordinate matrix assigned by step S202 and step S203 is fully covered for the numbers that are 0 in the coordinate matrix (the entire area can be fully covered) and the precise position of the transfer station is confirmed, so that all transfer stations (relay points) are at the same installation coordinate position on the ground from all adjacent tower crane standard sections;

[0082] S205, obtain the installation coordinates of all tower crane standard sections on the ground, determine the tower crane arm length, determine the number of tower crane standard sections according to the required working height of the tower crane, and after the number of standard sections is confirmed, confirm whether adjacent tower cranes are at different heights (to prevent collision):

[0083] If it does not meet the requirements, the number of standard sections shall be re-determined;

[0084] S206. After all data are initially determined, check whether they meet the requirements:

[0085] If it does not meet the requirements, return to step S201 and start again until the verification passes.

[0086] The optimization method of the lifting path in step S5 of this embodiment is specifically as follows:

[0087] S501, after step S206 is completed, the priority of the goods is graded (manually / automatically), and the importance of the goods is divided into n levels. When multiple paths are working at the same tower crane point at the same time, the goods will be lifted in sequence according to the order of priority. When the same priority setting occurs, the goods will be lifted in sequence according to the first-come-first-served order (manual control) or the nearest-first-served order (automatic control);

[0088] S502, using a breadth first search algorithm to divide the total path into an optimization method based on the hoisting paths of each tower crane;

[0089] S503: After determining the optimal path, the required tower cranes are controlled in sequence, and a single person controls all the tower cranes on the entire path in sequence until the target site (destination) is reached.

[0090] In step S503 of this embodiment, a single person sequentially controls all tower cranes in the overall path as follows:

[0091] S5031. Each demand site uses an intelligent control handheld terminal (handheld PDA) to call the backend to confirm the required goods and issue an order;

[0092] S5032. Obtain the outbound location and unloading location (coordinates) for the background freight order. Once the goods arrive at the outbound location (shipping point), they can be shipped. At the same time, the background issues a transshipment reminder to the tower crane driver assigned to this order.

[0093] S5033. If the 3D holographic imaging device of the tower crane driver is connected normally and the identity is verified, the tower crane driver can be reminded when the goods arrive at the scheduled delivery point. The projection device supporting the 3D holographic imaging device starts working, and the joystick permission is enabled in the background to start the transfer of the order. Among them, the identity verification is correct as follows: the identity verification code is entered in the background. If the input is wrong multiple times or the verification fails, the order will be automatically re-sent to the remaining online drivers. The scheduled delivery point refers to manual confirmation or confirmation using an electronic tag. When the built-in positioning module in the electronic tag shows that the distance between the delivery point and the object is within 5m, or the delivery personnel use the smart control handheld terminal to confirm;

[0094] S5034, the gyroscope monitors the position of the cargo controlled by the tower crane driver in real time, and enables the real-time navigation function for the cargo route, that is, obtaining the location of the cargo at fixed time intervals and comparing it with the background simulation trajectory:

[0095] When there is a large error beyond 20m, the tower group system will automatically give an alarm and confirm the driver's status;

[0096] When the error reaches 50m, the tower group system will automatically alarm and freeze the order;

[0097] When there is a risk of a tower crane losing control, that is, the 3D holographic imaging device stops transmitting real-time images, the driver's authority is taken over without authorization, or the tower crane sensor data is abnormal, the group tower system will automatically freeze the order. At this time, the order priority is the highest priority (top level), and the goods will be automatically placed at the nearest storage point (safe point) waiting for external takeover. After professional personnel deal with it, enter the authorization code and resume control. When the line is normal, when the driver lifts the goods from the n-1 transfer station to the nth transfer station, the group tower system will automatically switch the driver to the next tower crane perspective, and start the next tower crane control after the cargo loading and unloading is completed until the cargo arrives at the designated location.

[0098] In step S502 of this embodiment, the optimization method of dividing the total path into hoisting paths based on each tower crane by using the breadth first search algorithm is as follows:

[0099] S5021. According to the starting position data of the delivery point, with the delivery point as the center and a fixed length as the radius (eg: the longest tower crane rotation diameter in the entire construction site), search for the positions of the rotation centers of all nearby tower cranes and obtain the coordinates;

[0100] S5022. According to the position of the tower crane rotation center and the position of the delivery point, the distance between the center of the nearby available tower cranes (non-occupied state, which can be considered as occupied state when the tower crane is working) and the starting position is confirmed, the distances are sorted from small to large, all possible tower cranes are selected as the first tower crane group, and the position of each first tower crane in the first tower crane group is confirmed;

[0101] S5023, according to the position of the first tower crane, taking the rotation center of the first tower crane as the center of the circle and a fixed distance (the diameter of the first tower crane) as the radius, searching for the rotation center of the second tower crane, taking all the tower cranes searched as the second tower crane alternatives, calculating the rotation center of each second tower crane alternative and the rotation center of the first tower crane, if the straight-line distance between the centers of the two tower cranes is greater than the sum of the radii of the two tower cranes, the alternative can be determined as the second tower crane;

[0102] S5024. According to the positions of all second tower cranes, a second tower crane list is calculated, the second tower crane list includes all tower cranes that meet the calculation requirements in step S5023, and the tower cranes in the second tower crane list are compared with the delivery address:

[0103] If the delivery address is within the rotation radius of the second tower crane, the search ends;

[0104] If the delivery address is not within the rotation radius of the second tower crane, the next search is performed;

[0105] S5025, obtaining the location of the next tower crane and listing it through steps S5023 and S5024, until the target receiving point is found;

[0106] S5026. Obtain all feasible paths from the shipping point to the receiving point by using a breadth-first algorithm;

[0107] S5027. Calculate a capacity matrix according to the number of cargo commands of all tower cranes on a target path, where the target path is any one of all feasible paths.

[0108] S5028. According to the shortest distance required for transportation between tower cranes on the target path, a capacity matrix, a distance matrix and a time matrix are calculated, and an optimal route is obtained from all feasible paths according to the capacity matrix, the distance matrix and the time matrix;

[0109] Among them, the distance matrix includes the required number of tower cranes, the rotation angle of a single tower crane and the tower crane operation path; the tower crane operation path refers to moving toward the center while rotating or directly rotating to the angle and then moving; the time matrix refers to the tower crane transportation time and the ferry time required for multiple tower cranes to load and unload goods; the capacity matrix is ​​calculated based on the number of cargo-carrying commands of all tower cranes on the target path, specifically referring to the number of commands that can be arranged sequentially on a single tower crane and the number of commands that can be carried simultaneously. For example, if two paths need to use a single tower crane at the same time, if two goods can be transported together, then it is called the number of commands carried simultaneously, and the number of commands carried sequentially is how many transfer commands need to be waited after this transfer path, which is the sequential carrying command.

[0110] 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 aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for optimizing the transportation path of a group of tower cranes, characterized in that: The specific steps of this method are as follows: S1, establishing a three-dimensional grid model of the tower group construction site under three-dimensional space coordinates, generating a grid node set and generating a coordinate matrix; S2, determining the optimal arrangement method of the tower group according to the grid node set generated in step S1, and obtaining the installation coordinates and other parameters of the tower crane standard section on the ground; S3, generating an obstacle point set U0 according to obstacles and grid node sets in the construction site; S4. Obtain the coordinates of the lifting start point S and the lifting end point G in rectangular coordinates, which are (XS, YS, ZS) and (XG, YG, ZG) respectively; S5. Plan a lifting path from the lifting starting point S to the lifting end point G according to the lifting starting point S, the lifting end point G, the grid node set, the obstacle point set U0 and the preset lifting path planning strategy; The method for generating a grid node set to determine the optimal arrangement of the tower groups in step S2 is as follows: S201, determining the available free positions of the tower group construction site according to the grid node set generated in step S1, and generating an unavailable coordinate array from the coordinates of the unavailable positions; S202, according to the available free positions of the tower group construction site in step S201, set Q transfer station areas, assign the corresponding positions of the coordinate matrix to variables 1, and the remaining available coordinates are still assigned 0; S203, bringing the unavailable coordinate array generated in step S201 into the coordinate matrix generated in step S1, assigning the corresponding position of the coordinate matrix to variable 2, and keeping the other coordinates unchanged; S204, the coordinate matrix assigned by step S202 and step S203 is fully covered for the numbers that are 0 in the coordinate matrix and the accurate position of the transfer station is confirmed, so that the installation coordinate positions of all transfer stations on the ground from all adjacent tower crane standard sections are the same; S205, obtaining the installation coordinates of all tower crane standard sections on the ground, determining the tower crane boom length, determining the number of tower crane standard sections according to the required working height of the tower crane, and after the number of standard sections is confirmed, confirming whether adjacent tower cranes are at different heights: If it does not meet the requirements, the number of standard sections shall be re-determined; S206. After all data are initially determined, check whether they meet the requirements: If it does not meet the requirements, return to step S201 and start again until the verification passes; The optimization method of the lifting path in step S5 is specifically as follows: S501, after step S206 is completed, the priority of the goods is graded, and the importance of the goods is divided into n levels. When multiple paths are working at the same tower crane point, the goods will be lifted in sequence according to the order of priority. When the same priority setting occurs, the goods will be lifted in sequence according to the first-come-first-served order or the nearest-come-first-served order for priority transportation; S502, using a breadth-first search algorithm to divide the total path into an optimization method based on the hoisting paths of each tower crane; S503, after determining the optimal path, the required tower cranes are controlled in sequence, and a single person controls all the tower cranes on the overall path in sequence until the target site is reached.

2. The method for optimizing the path of tower crane transportation according to claim 1, characterized in that: The single person in step S503 sequentially controls all tower cranes in the overall path as follows: S5031. Each demand site uses the smart control handheld terminal to call the backend to confirm the required goods and issue the order; S5032. Obtain the outbound location and unloading location for the background freight order. Once the goods arrive at the outbound location, they can be shipped. At the same time, the background will issue a transshipment reminder to the tower crane driver assigned to this order. S5033. If the 3D holographic imaging device of the tower crane driver is connected normally and the identity is verified, the tower crane driver can be reminded when the goods arrive at the scheduled delivery point. The projection device supporting the 3D holographic imaging device starts working, and the joystick permission is enabled in the background to start the transfer of the order. Among them, the identity verification is correct as follows: the identity verification code is entered in the background. If the input is wrong multiple times or the verification fails, the order will be automatically re-sent to the remaining online drivers. The scheduled delivery point refers to manual confirmation or confirmation using an electronic tag. When the built-in positioning module in the electronic tag shows that the distance between the delivery point and the object is within 5m, or the delivery personnel use the smart control handheld terminal to confirm; S5034, the gyroscope monitors the position of the cargo controlled by the tower crane driver in real time, and enables the real-time navigation function for the cargo route, that is, obtaining the location of the cargo at fixed time intervals and comparing it with the background simulation trajectory: When there is a large error beyond 20m, the tower group system will automatically give an alarm and confirm the driver's status; When the error reaches 50m, the tower cluster system will automatically alarm and freeze the freight order; When there is a risk of a tower crane losing control, that is, the 3D holographic imaging device stops transmitting real-time images, the driver's authority is taken over without authorization, or the tower crane sensor data is abnormal, the group tower system will automatically freeze the freight order. At this time, the freight order has the highest priority and automatically places the goods at the nearest storage point waiting for external takeover. After professional personnel deal with it, enter the authorization code and resume control. When the line is normal, when the driver lifts the goods from the n-1 transfer station to the nth transfer station, the group tower system will automatically switch the driver to the next tower crane's perspective, and start the next tower crane control after the cargo loading and unloading is completed until the cargo arrives at the designated location.

3. The method for optimizing the path of tower crane transportation according to claim 1, characterized in that: The optimization method for dividing the total path into hoisting paths based on each tower crane by using the breadth-first search algorithm in step S502 is specifically as follows: S5021. According to the starting position data of the delivery point, the positions of the rotation centers of all nearby tower cranes are searched with the delivery point as the center and a fixed length as the radius, and the coordinates are obtained; S5022, according to the position of the tower crane rotation center and the position of the delivery point, confirm the distance between the center of the nearby available tower cranes and the starting position, sort the distances from small to large, select all possible tower cranes as the first tower crane group, and confirm the position of each first tower crane in the first tower crane group; S5023, according to the position of the first tower crane, taking the rotation center of the first tower crane as the center of the circle and a fixed distance as the radius, searching for the rotation center of the second tower crane, taking all the tower cranes searched as the second tower crane alternatives, calculating the rotation center of each second tower crane alternative and the rotation center of the first tower crane, if the straight-line distance between the centers of the two tower cranes is greater than the sum of the radii of the two tower cranes, the alternative can be determined as the second tower crane; S5024. According to the positions of all second tower cranes, a second tower crane list is calculated, the second tower crane list includes all tower cranes that meet the calculation requirements in step S5023, and the tower cranes in the second tower crane list are compared with the delivery address: If the delivery address is within the rotation radius of the second tower crane, the search ends; If the delivery address is not within the rotation radius of the second tower crane, the next search is performed; S5025, obtaining the location of the next tower crane and listing it through steps S5023 and S5024, until the target receiving point is found; S5026. Obtain all feasible paths from the shipping point to the receiving point by using a breadth-first algorithm; S5027. Calculate a capacity matrix according to the number of cargo commands of all tower cranes on a target path, where the target path is any one of all feasible paths. S5028. According to the shortest distance required for transportation between tower cranes on the target path, a capacity matrix, a distance matrix and a time matrix are calculated, and an optimal route is obtained from all feasible paths according to the capacity matrix, the distance matrix and the time matrix; Among them, the distance matrix includes the required number of tower cranes, the rotation angle of a single tower crane and the tower crane operation path; the tower crane operation path refers to moving toward the center while rotating or directly rotating to the angle and then moving; the time matrix refers to the tower crane transportation time and the ferry time required for multiple tower cranes to load and unload goods; the capacity matrix is ​​calculated based on the number of cargo-carrying commands of all tower cranes on the target path, specifically referring to the number of commands that can be arranged sequentially on a single tower crane and the number of commands that can be carried simultaneously.

4. A tower group system for implementing the tower group hoisting path optimization method according to any one of claims 1 to 3, characterized in that: It includes a tower crane body and an intelligent control terminal. The tower crane body includes a tower crane mechanical structure, a PLC controller, a frequency converter, a motor and a transmission mechanism, an encoder, five limit devices and various sensors. The tower crane body is provided with a tower crane end controller, which uses a multi-functional interface board to electrically connect with the PLC controller, the frequency converter, the motor and the transmission mechanism, the encoder, the five limit devices and various sensors and exchange information. The tower crane body is also provided with a gun-type or spherical camera, which is used to monitor and remotely transmit the hook, the cab and the winch. The tower crane mechanical structure is a group tower composed of several single tower cranes. The intelligent control terminal includes an intelligent control handheld terminal and a 3D holographic imaging device; the intelligent control handheld terminal is used for two-way high-speed communication with the tower crane body using a 3G / 4G / 5G or WIFI module; The 3D holographic imaging device is used to calculate the status data transmitted from the tower crane body and the status data of the intelligent control handheld terminal, and transmit them to the display screen through wired or wireless communication for display.

5. The tower group system according to claim 4, characterized in that: The tower crane body is also provided with a 360° panoramic camera and a 3D or planar laser radar. The gun-type or spherical camera, the 360° panoramic camera, the 3D laser radar and the planar laser radar are electrically connected to the tower crane end controller respectively. The gun-type or spherical camera, the 360° panoramic camera, the 3D laser radar and the planar laser radar communicate with the intelligent control terminal in two-way high-speed manner through a 3G / 4G / 5G or WIFI module.

6. The tower group system according to claim 5, characterized in that: The 360° panoramic camera is located on the tower crane body, the 3D laser radar is located around the detection boundary, and the planar laser radar and gun-type / spherical cameras are located at corresponding positions on the tower bodies of the group towers.

7. The tower group system according to claim 6, characterized in that: The sensors include a gravity sensor, an altitude sensor and a wind speed and direction sensor.

8. The tower group system according to claim 7, characterized in that: The intelligent control handheld terminal has a built-in high-performance microprocessor, and is connected to an acceleration sensor or a gyroscope, a GPS RTK positioning module, a battery and a charging circuit, a joystick, a button, an LCD touch screen and corresponding interfaces; the interfaces include a USB interface, an Ethernet interface and an RS-485 interface.

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