A tower crane group anti-collision control method, system and medium

Abstract

The present disclosure relates to a tower crane group anti-collision control method, a tower crane group anti-collision control system and a computer readable storage medium, wherein the tower crane group anti-collision control method comprises: determining coordinate parameters of a tower crane according to sensor data of the tower crane; and determining whether the tower crane group will collide according to the coordinate parameters of each tower crane.

Description

Technical Field

[0001] This disclosure relates to the field of building engineering technology, and in particular to a method for preventing collisions among tower crane groups, a collision control system for tower crane groups, and a computer-readable storage medium. Background Technology

[0002] To ensure complete coverage of the work area during construction, tower crane groups may experience overlapping work surfaces. Therefore, to prevent collisions among tower crane groups and ensure their safety during construction, effective control of the tower crane group's operation is necessary.

[0003] Tower crane collision avoidance systems typically employ ultrasonic echo ranging technology to measure the distance between moving objects and surrounding obstacles. This involves a transmitter emitting a signal wave, and a receiver receiving the target echo to detect the presence of a collision object or other moving object. Additionally, some related technologies utilize GPS positioning to determine the distances between tower cranes within a group. Summary of the Invention

[0004] The inventors discovered through research that ultrasonic echo ranging technology is suitable for equipment with non-rotating motion, but tower cranes need to rotate during operation, which is not conducive to its use and large-scale promotion on tower cranes; GPS satellite signals in GPS positioning technology are easily affected by weather and environment, and the GPS device on the equipment is also easily blocked, resulting in unstable and inaccurate signals.

[0005] In view of this, the present disclosure provides a tower crane group anti-collision control method, a tower crane group anti-collision control method control system, and a computer-readable storage medium to more accurately control tower crane groups against collisions.

[0006] In one aspect of this disclosure, a method for preventing collisions among tower crane groups is provided, comprising:

[0007] Determine the tower crane's coordinate parameters based on the tower crane's sensor data;

[0008] Based on the coordinate parameters of each tower crane, determine whether a collision will occur in the tower crane group.

[0009] In some embodiments, the tower crane group includes a first tower crane and a second tower crane, and the operation of determining whether the tower crane group will collide specifically includes:

[0010] Determine the first distance, which is the distance between the base of the first tower crane and the base of the second tower crane;

[0011] Determine the second distance, which is the sum of the jib lengths of the first tower crane and the second tower crane;

[0012] Based on the relationship between the first and second distances, determine whether the first and second tower cranes will collide.

[0013] In some embodiments, the operation of determining whether the first tower crane and the second tower crane will collide includes:

[0014] If the first distance is less than or equal to the second distance, then determine the first height and the second height. The first height is the height difference between the jib of the first tower crane and the jib of the second tower crane, and the second height is the height from the hook of the first tower crane to the jib of the first tower crane; and

[0015] Based on the relationship between the first and second heights, determine whether the first and second tower cranes will collide.

[0016] In some embodiments, the operation of determining whether the first tower crane and the second tower crane will collide further includes:

[0017] If the first height is less than or equal to the second height, then determine the horizontal projection range of the hook of the first tower crane;

[0018] The horizontal projection range of the second tower crane is determined based on the length of its jib and the position of its base.

[0019] Based on the relationship between the shortest distance and the tolerance distance between the horizontal projection range of the hook of the first tower crane and the horizontal projection range of the jib of the second tower crane, it is determined whether the first tower crane and the second tower crane will collide.

[0020] In some embodiments, the operation of determining whether the first tower crane and the second tower crane will collide further includes:

[0021] Determine the endpoint coordinates of the horizontal projection range of the hook of the first tower crane. The endpoint coordinates include: the first endpoint, the second endpoint, the third endpoint, and the fourth endpoint.

[0022] Determine the endpoint coordinates of the horizontal projection range of the second tower crane's jib. The endpoint coordinates include the fifth endpoint, the sixth endpoint, the seventh endpoint, and the eighth endpoint.

[0023] Calculate the shortest distance between the outer contour of the rectangle formed by the first, second, third, and fourth endpoints and the outer contour of the rectangle formed by the fifth, sixth, seventh, and eighth endpoints;

[0024] If the shortest distance is less than or equal to the tolerance distance, it is determined that the hook of the first tower crane will collide with the tower arm of the second tower crane.

[0025] If the shortest distance is greater than the tolerance distance, it is determined that the hook of the first tower crane will not collide with the tower arm of the second tower crane.

[0026] In some embodiments, if it is determined that the hook of the first tower crane will collide with the jib of the second tower crane, the first and second tower cranes shall be stopped from moving in their current directions.

[0027] In some embodiments, specific operations for stopping the first and second tower cranes from moving in the current direction include:

[0028] To stop the luffing trolley of the first tower crane from moving to the far end, and / or to stop the tower jib of the first tower crane from continuing to rotate in the current direction;

[0029] This stops the second tower crane's boom from continuing to rotate in its current direction.

[0030] In some embodiments, the operation of determining whether the first tower crane and the second tower crane will collide includes:

[0031] If the first distance is greater than the second distance, then it is determined that the first tower crane and the second tower crane will not collide.

[0032] In some embodiments, the operation of determining whether the first tower crane and the second tower crane will collide further includes:

[0033] If the first height is greater than the second height, then it is determined that the first tower crane and the second tower crane will not collide.

[0034] In some embodiments, the operation of determining the coordinate parameters of the tower crane specifically includes:

[0035] The coordinates of the luffing trolley, hook, and tower arm end are determined by using the distance from the luffing trolley to the tower crane base monitored by the amplitude sensor, the height from the hook to the tower arm monitored by the height sensor, and the rotation angle of the tower arm monitored by the slewing sensor.

[0036] In some embodiments, the operation of determining the coordinate parameters of the tower crane specifically includes:

[0037] The coordinate parameters of other tower cranes in the tower crane group are determined by the communication module.

[0038] In another aspect of this disclosure, a tower crane cluster anti-collision control system is provided, wherein each tower crane in the cluster includes:

[0039] Memory; and

[0040] A processor coupled to the memory is configured to execute the tower crane group anti-collision control method as described above, based on instructions stored in the memory.

[0041] In some embodiments, the tower crane further includes:

[0042] An amplitude sensor is configured to monitor the distance from the luffing trolley to the base of the tower crane;

[0043] A height sensor is configured to monitor the height of the hook from the tower arm; and

[0044] A slewing sensor is configured to monitor the rotation angle of the tower arm;

[0045] The processor is connected to the amplitude sensor, height sensor and slewing sensor of each tower crane in the tower crane group. It is configured to determine the coordinates of the luffing trolley, hook and tower arm end based on the base coordinates of the tower crane and the monitoring data of the amplitude sensor, height sensor and slewing sensor.

[0046] In some embodiments, the tower crane further includes:

[0047] The communication module, connected to the processor signal, is configured to acquire the coordinate parameters of other tower cranes in the tower crane group.

[0048] In another aspect of this disclosure, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements any of the tower crane group anti-collision control methods described above.

[0049] Therefore, according to the embodiments of this disclosure, without adding additional sensors, a group coordinate system of tower cranes is established. Based on the coordinates of each tower crane base and the parameters obtained by each tower crane sensor, the positional relationship between the tower arm and hook of each tower crane is monitored in real time to determine whether a collision will occur. This enables more accurate and convenient anti-collision control of the tower crane group and effectively ensures the safety of tower crane group construction. Attached Figure Description

[0050] The accompanying drawings, which form part of this specification, illustrate embodiments of this disclosure and, together with the specification, serve to explain the principles of this disclosure.

[0051] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein:

[0052] Figure 1 This is a flowchart of some embodiments of the tower crane group anti-collision control method disclosed herein;

[0053] Figure 2 This is a flowchart of some other embodiments of the tower crane group anti-collision control method according to the present disclosure;

[0054] Figure 3 This is a schematic diagram of a tower crane group according to some embodiments of the tower crane group anti-collision control method disclosed herein;

[0055] Figure 4 This is a horizontal projection schematic diagram of a tower crane group according to some embodiments of the tower crane group anti-collision control method disclosed herein;

[0056] Figure 5 This is a connection diagram based on some embodiments of the tower crane group anti-collision control system disclosed herein.

[0057] It should be understood that the dimensions of the various parts shown in the accompanying drawings are not drawn to actual scale. Furthermore, the same or similar reference numerals denote the same or similar components. Detailed Implementation

[0058] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The descriptions of the exemplary embodiments are merely illustrative and are in no way intended to limit the present disclosure or its application or use. The present disclosure may be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that the present disclosure will be thorough and complete, and will fully express the scope of the disclosure to those skilled in the art. It should be noted that, unless specifically stated otherwise, the relative arrangement of components and steps, the composition of materials, numerical expressions, and values ​​set forth in these embodiments should be interpreted as exemplary only and not as limiting.

[0059] The terms "first," "second," and similar words used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. Words such as "including" or "contains" mean that the element preceding the word encompasses the element listed after it, and do not exclude the possibility of encompassing other elements as well. Terms such as "above," "below," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, this relative positional relationship may also change accordingly.

[0060] In this disclosure, when a specific device is described as being located between a first device and a second device, an intermediary device may or may not be present between the specific device and the first or second device. When a specific device is described as being connected to other devices, the specific device may be directly connected to the other devices without an intermediary device, or it may be not directly connected to the other devices but have an intermediary device.

[0061] All terms used in this disclosure (including technical or scientific terms) have the same meaning as understood by one of ordinary skill in the art to which this disclosure pertains, unless otherwise specifically defined. It should also be understood that terms defined in a general dictionary, such as a dictionary, should be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and not as having an idealized or highly formalized meaning, unless expressly defined herein.

[0062] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0063] refer to Figure 1 In one aspect of this disclosure, a method for preventing collisions among tower crane groups is provided, comprising steps S100 to S200.

[0064] In step S100, the coordinate parameters of the tower crane are determined based on the sensor data of the tower crane. The coordinate position of the tower crane's base 1 is determined before construction. The sensor data includes the tower crane's built-in amplitude sensor 5, height sensor 6, and slewing sensor 7, etc., and no additional sensors are required.

[0065] In step S200, based on the coordinate parameters of each tower crane, it is determined whether a collision will occur in the tower crane group. The relative positional relationship between each tower crane in the group can be analyzed and determined. Based on the data measured by the tower crane's own sensors and the coordinates of the tower crane's base 1, a coordinate system for the tower crane group is established, and the range of motion and coordinate parameters of the jib 2 end and hook 3 of each tower crane in the group are determined. This allows for the determination of whether the jib 2 and hook 3 of two tower cranes will collide with each other. If a collision is determined to occur, an alarm signal can be sent to the tower crane operator to remind them to prevent the accident from happening in time.

[0066] In this embodiment, without adding additional sensors, a group coordinate system for the tower crane group is established. Based on the coordinates of each tower crane base 1 and the parameters obtained by each tower crane sensor, the positional relationship between the tower arm 2 and hook 3 of each tower crane is monitored in real time to determine whether a collision will occur. This reduces monitoring costs and enables more accurate and convenient anti-collision control of the tower crane group, effectively ensuring the safety of tower crane group construction.

[0067] refer to Figure 2 and Figure 3 In some embodiments, the tower crane group includes a first tower crane and a second tower crane. The operation of determining whether the tower crane group will collide specifically includes steps S210 to S230.

[0068] In step S210, a first distance and a second distance are determined. The first distance is the distance between the base 1 of the first tower crane and the base 1 of the second tower crane. Figure 3 In the equation M, the second distance is the sum of the lengths of the first tower crane's jib 2 and the second tower crane's jib 2, where the length of the first tower crane's jib 2 is... Figure 3 In the diagram, L1, the length of the second tower crane's jib 2 is... Figure 3 L2 in the equation. In step S220, based on the relationship between the first distance M and the second distance L1+L2, it is determined whether the first tower crane and the second tower crane will collide.

[0069] In this embodiment, the distance between two tower cranes is obtained based on the coordinates of the base 1 of the tower crane. When the distance between the base 1 of the two tower cranes is less than or equal to the sum of the lengths of the tower arms 2 of the two tower cranes, there is a possibility that the two tower cranes will collide.

[0070] refer to Figure 2 and Figure 3 In some embodiments, the operation of determining whether the first tower crane and the second tower crane will collide includes steps S230 to S240.

[0071] In step S230, if the first distance is less than or equal to the second distance, then the first height and the second height are determined, wherein the first height is the height difference between the jib 2 of the first tower crane and the jib 2 of the second tower crane, and the height of the jib 2 of the first tower crane is... Figure 3 In the diagram, H1 represents the height of the second tower crane's jib 2. Figure 3 In the diagram, H2 has a first height of |H1-H2|, and a second height of the distance from the hook 3 of the first tower crane to the jib 2 of the first tower crane. Figure 3 In step S240, based on the relationship between the first height |H1-H2| and the second height D, it is determined whether the first tower crane and the second tower crane will collide.

[0072] In this embodiment, when the distance between the base 1 of the first tower crane and the second tower crane is less than or equal to the sum of the lengths of the tower arms 2 of the first tower crane and the second tower crane, and the distance from the hook 3 of the first tower crane to the tower arm 2 of the first tower crane is less than or equal to the height difference between the tower arms 2 of the first tower crane and the second tower crane, the hook 3 of the first tower crane may collide with the tower arm 2 of the second tower crane.

[0073] refer to Figure 2 and Figure 4 In some embodiments, the operation of determining whether the first tower crane and the second tower crane will collide further includes steps S250 to S260.

[0074] In step S250, if the first height is less than or equal to the second height, the horizontal projection range of the outer contour of the hook 3 of the first tower crane is determined by combining the size parameters of the hook 3, and the horizontal projection range of the outer contour of the tower arm 2 of the second tower crane is determined by the length of the tower arm 2 of the second tower crane and the position of the base 1 of the second tower crane. Figure 4 In the diagram, A represents the motion trajectory of the hook 3 of the first tower crane rotating around the base 1. Since the hook 3 can move along the length of the tower arm 2 with the luffing trolley, A is a circle with a fixed center and a variable radius. The hook 3 of the first tower crane is horizontally projected onto the circumference of circle A. Figure 4 In this context, B represents the horizontal projection range of the circumferential running trajectory at the end of the second tower crane's jib 2, and B is a circle with a fixed center and radius.

[0075] In step S260, based on the relationship between the shortest distance and the tolerance distance between the horizontal projection range of the hook 3 of the first tower crane and the horizontal projection range of the tower arm 2 of the second tower crane, it is determined whether the first and second tower cranes will collide. The tolerance distance can be determined by the user based on the actual working scenario and collision avoidance requirements, and may include, but is not limited to, 2 meters and 3 meters.

[0076] In this embodiment, when the distance between the base 1 of the first tower crane and the second tower crane is less than or equal to the sum of the lengths of the tower arms 2 of the first tower crane and the second tower crane, and the distance from the hook 3 of the first tower crane to the tower arm 2 of the first tower crane is less than or equal to the height difference between the tower arms 2 of the first tower crane and the second tower crane, the first tower crane and the second tower crane can be regarded as moving on a horizontal plane with the base 1 as the rotation center and the tower arms 2 and the hook 3 as the rotating bodies, so as to more conveniently judge the movement status of the hook 3 and the tower arms 2.

[0077] refer to Figure 2 and 4 In some embodiments, the operation of determining whether the first tower crane and the second tower crane will collide further includes steps S270 to S280.

[0078] In step S270, if the shortest distance between the horizontal projection range of the hook 3 of the first tower crane and the horizontal projection range of the tower arm 2 of the second tower crane is less than or equal to the tolerance distance, it is determined that the hook 3 of the first tower crane will collide with the tower arm 2 of the second tower crane.

[0079] In step S280, if the shortest distance between the horizontal projection range of the hook 3 of the first tower crane and the horizontal projection range of the tower arm 2 of the second tower crane is greater than the tolerance distance, then it is determined that the hook 3 of the first tower crane will not collide with the tower arm 2 of the second tower crane.

[0080] In this embodiment, the horizontal projections of the hook 3 of the first tower crane and the jib 2 of the second tower crane are both considered as rectangles determined by coordinate parameters. The shortest distance between the outer contours of the two rectangles can then be calculated. If the shortest distance between the horizontal projection range of the hook 3 of the first tower crane and the horizontal projection range of the jib 2 of the second tower crane is less than or equal to the tolerance distance, it indicates that there is an overlapping working area between the first and second tower cranes, and the hook 3 of the first tower crane and the jib 2 of the second tower crane will collide. If the shortest distance is greater than the tolerance distance, they will not collide. Furthermore, a certain threshold can be set based on the original structural dimensions of the hook 3 and the jib 2 of the tower crane, on the basis of the tolerance distance, to control the distance between the hook 3 of the first tower crane and the jib 2 of the second tower crane to remain within a safe threshold range.

[0081] refer to Figure 4In some embodiments, the operation of determining the relationship between the shortest distance and the tolerance distance specifically includes: determining the endpoint coordinates of the rectangle formed by the horizontal projection range of the hook 3 of the first tower crane, the endpoint coordinates including: first endpoint 3a, second endpoint 3b, third endpoint 3c, and fourth endpoint 3d; determining the endpoint coordinates of the rectangle formed by the horizontal projection range of the tower arm 2 of the second tower crane, the endpoint coordinates including: first endpoint 2a, second endpoint 2b, third endpoint 2c, and fourth endpoint 2d. Based on the endpoint coordinates of the two rectangles, the shortest distance between the outer contours of the two rectangles in the coordinate system is calculated and analyzed, and compared with the tolerance distance.

[0082] In this embodiment, when the shortest distance between the outer contour of the rectangle formed by the horizontal projection range of the second tower crane's jib 2 and the rectangle formed by the horizontal range of the first tower crane's hook 3 is less than or equal to the tolerance distance, it can be determined that a collision will occur between the hook 3 of the first tower crane and the jib 2 of the second tower crane. By determining the coordinates of the horizontal projection ranges of the jib 2 of the second tower crane and the hook 3 of the first tower crane, the positional relationship of the tower crane group can be monitored and analyzed more conveniently and efficiently. At the same time, a certain safety threshold range can be provided for collision scenarios to avoid operators being unable to react and adjust the movement of the tower crane group in time under extreme circumstances.

[0083] In some embodiments, if it is determined that the hook 3 of the first tower crane will collide with the jib 2 of the second tower crane, the first and / or second tower cranes will stop moving in their current direction. In this embodiment, however, when a collision between the hook 3 of the first tower crane and the jib 2 of the second tower crane is detected, a danger message can be promptly communicated to the tower crane operator, reminding them to restrict the tower crane's movement in time, ensuring that the tower crane can only move in the unrestricted direction, thereby preventing collisions between the tower cranes and improving operational safety.

[0084] In some embodiments, the specific operations for stopping the movement of the first tower crane and the second tower crane in the current direction include: stopping the luffing trolley of the first tower crane from moving to the far end, and / or stopping the tower arm 2 of the first tower crane from continuing to rotate in the current direction, and stopping the tower arm 2 of the second tower crane from continuing to rotate in the current direction.

[0085] In this embodiment, if a collision is detected when the luffing trolley moves the hook 3 along the tower jib 2, the luffing trolley is restricted from moving further away; it can only move towards the base 1. If a collision occurs while the tower jib 2 is rotating around the base 1, the tower jib 2 is restricted from rotating in the current direction; it can only rotate in the opposite direction. This ensures that the tower crane fleet can continue operating within a safe range and prevents accidents.

[0086] refer to Figure 2In some embodiments, the operation of determining whether the first tower crane and the second tower crane will collide includes step S221. In step S221, if the first distance is greater than the second distance, it is determined that the first tower crane and the second tower crane will not collide. In this embodiment, when the distance between the base 1 of the first tower crane and the second tower crane is greater than the sum of the lengths of the tower arms 2 of the first tower crane and the second tower crane, both the first tower crane and the second tower crane are within a safe range of movement and will not collide.

[0087] refer to Figure 2 In some embodiments, the operation of determining whether the first tower crane and the second tower crane will collide further includes step S241. In step S241, if the first height is greater than the second height, it is determined that the first tower crane and the second tower crane will not collide. In this embodiment, when the distance between the base 1 of the first tower crane and the second tower crane is less than or equal to the sum of the lengths of the tower arms 2 of the first tower crane and the second tower crane, but the distance from the hook 3 of the first tower crane to the tower arm 2 of the first tower crane is greater than or equal to the height difference between the tower arms 2 of the first tower crane and the second tower crane, both the first tower crane and the second tower crane are within a safe range of operation and will not collide.

[0088] In some embodiments, the operation of determining the coordinate parameters of the tower crane specifically includes: determining the coordinates of the luffing trolley, the hook 3 and the end of the tower crane by using the distance from the luffing trolley to the base 1 of the tower crane monitored by the amplitude sensor 5, the height from the hook 3 to the tower arm 2 monitored by the height sensor 6 and the rotation angle of the tower arm 2 monitored by the slewing sensor 7.

[0089] In this embodiment, the distance from the luffing trolley to the base 1, the horizontal distance from the hook 3 to the base 1, and the coordinates of the projection of the end of the tower arm 2 onto the horizontal plane can be determined by the monitoring data of the amplitude sensor 5. The vertical distance from the hook 3 to the tower arm 2 can be determined by the monitoring data of the height sensor 6. The rotation angle of the tower arm 2 monitored by the rotation sensor 7, combined with the horizontal distance from the hook 3 to the base 1, can determine the coordinates of the projection of the hook 3 onto the horizontal plane. Therefore, the working status and position coordinates of each tower crane in the tower crane group can be monitored in real time without the need for additional sensors, which greatly reduces the cost of designing anti-collision control for tower cranes entering the group. This not only ensures the safe construction of the tower crane group but also improves the economic benefits of the tower cranes and enhances their market competitiveness.

[0090] In some embodiments, determining the coordinate parameters of a tower crane specifically includes: determining the coordinate parameters of other tower cranes in the tower crane group through a communication module. In this embodiment, each tower crane in the tower crane group can obtain the coordinate parameter information of other tower cranes through a communication module, thereby enabling precise monitoring of the working status of the entire tower crane group and the positional relationship between each tower crane, avoiding safety accidents caused by collisions between the tower boom 2 and the hook 3 within the tower crane group, and improving the safety of the tower crane group during construction.

[0091] In another aspect of this disclosure, a tower crane group anti-collision control system is provided, wherein each tower crane in the tower crane group anti-collision control system includes a memory 8 and a processor 9. The processor 9 is coupled to the memory 8 and is configured to execute the tower crane group anti-collision control method as described in any of the preceding claims based on instructions stored in the memory.

[0092] In this embodiment, the memory 8 includes, but is not limited to, system memory, fixed non-volatile storage media, etc. The system memory, for example, stores the operating system, application programs, boot loader, and other programs. By storing data instructions in the memory 8 and then processing these instructions through the processor 9, the ease of operation of the tower crane group anti-collision control system can be improved.

[0093] refer to Figure 5 In some embodiments, the tower crane further includes an amplitude sensor 5, a height sensor 6, and a slewing sensor 7. The amplitude sensor 5 is configured to monitor the distance from the luffing trolley to the tower crane's base 1, the height sensor 6 is configured to monitor the height from the hook 3 to the jib 2, and the slewing sensor 7 is configured to monitor the rotation angle of the jib 2. The processor 9 is signal-connected to the amplitude sensor 5, height sensor 6, and slewing sensor 7 of each tower crane in the tower crane group, and is configured to determine the coordinates of the luffing trolley, hook 3, and end of the jib 2 based on the coordinates of the tower crane's base 1 and the monitoring data from the amplitude sensor 5, height sensor 6, and slewing sensor 7.

[0094] In this embodiment, the distance from the luffing trolley to the base 1, the horizontal distance from the hook 3 to the base 1, and the coordinates of the projection of the end of the tower arm 2 onto the horizontal plane can be determined by the monitoring data of the amplitude sensor 5. The vertical distance from the hook 3 to the tower arm 2 can be determined by the monitoring data of the height sensor 6. The rotation angle of the tower arm 2 monitored by the rotation sensor 7, combined with the horizontal distance from the hook 3 to the base 1, can determine the coordinates of the projection of the hook 3 onto the horizontal plane. Therefore, the working status and position coordinates of each tower crane in the tower crane group can be monitored in real time without the need for additional sensors. This allows for collision avoidance control design of the tower crane group at the lowest possible cost, ensuring safe construction of the tower crane group, improving the economic benefits of the tower cranes, and enhancing market competitiveness.

[0095] In some embodiments, the tower crane further includes a communication module. The communication module is signal-connected to the processor 9 and configured to acquire coordinate parameters of other tower cranes in the tower crane group. In this embodiment, each tower crane in the tower crane group can obtain coordinate parameter information of other tower cranes through the communication module, thereby enabling precise monitoring of the working status of the entire tower crane group and the positional relationships between the tower cranes. This avoids safety accidents caused by collisions between the tower boom 2 and the hook 3 within the tower crane group, improving the safety of the tower crane group during construction.

[0096] In another aspect of this disclosure, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor 9, implements any of the tower crane group anti-collision control methods described above. In one or more exemplary embodiments, the described functions may be implemented in hardware, software, firmware, or any combination thereof. If implemented as a computer program product in software, the functions may be stored as one or more instructions or codes on or transmitted via the computer-readable medium. A computer-readable medium includes both computer storage media and communication media, including any medium that facilitates the transfer of a computer program from one location to another. A storage medium may be any available medium accessible to a computer. By way of example and not limitation, such a computer-readable medium may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and is accessible to a computer. Any connection is also legitimately referred to as a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of media. As used herein, disk and disc include compact discs (CDs), laser discs, optical discs, digital multi-purpose discs (DVDs), floppy disks, and Blu-ray discs, where disks typically reproduce data magnetically, and discs reproduce data optically using lasers. Combinations of the above should also be included within the scope of computer-readable media. The various embodiments of this disclosure have now been described in detail. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art will fully understand how to implement the technical solutions disclosed herein based on the above description.

[0097] While specific embodiments of this disclosure have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments or equivalent substitutions can be made to some technical features without departing from the scope and spirit of this disclosure. The scope of this disclosure is defined by the appended claims.

Claims

1. A method for preventing collisions among tower crane groups, characterized in that, The tower crane group includes a first tower crane and a second tower crane, and the anti-collision control method for the tower crane group includes: Determine the tower crane's coordinate parameters based on the tower crane's sensor data; Based on the coordinate parameters of each tower crane, determine whether a collision will occur in the tower crane group; Specifically, the operation of determining whether a collision will occur among the tower crane group includes: Determine a first distance and a second distance, wherein the first distance is the distance between the base (1) of the first tower crane and the base (1) of the second tower crane, and the second distance is the sum of the length of the tower arm (2) of the first tower crane and the length of the tower arm (2) of the second tower crane; If the first distance is less than or equal to the second distance, determine the first height and the second height, wherein the first height is the height difference between the tower arm (2) of the first tower crane and the tower arm (2) of the second tower crane, and the second height is the height from the hook (3) of the first tower crane to the tower arm (2) of the first tower crane; If the first height is less than or equal to the second height, the horizontal projection range of the hook (3) of the first tower crane is determined, and the horizontal projection range of the tower arm (2) of the second tower crane is determined according to the length of the tower arm (2) of the second tower crane and the position of the base (1) of the second tower crane. Determine the endpoint coordinates of the horizontal projection range of the hook (3) of the first tower crane and the endpoint coordinates of the horizontal projection range of the tower arm (2) of the second tower crane. The endpoint coordinates include: the first endpoint (3a), the second endpoint (3b), the third endpoint (3c), the fourth endpoint (3d), the fifth endpoint (2a), the sixth endpoint (2b), the seventh endpoint (2c), and the eighth endpoint (2d). Calculate the shortest distance between the outer contour of the rectangle formed by the first endpoint (3a), the second endpoint (3b), the third endpoint (3c), and the fourth endpoint (3d) and the outer contour of the rectangle formed by the fifth endpoint (2a), the sixth endpoint (2b), the seventh endpoint (2c), and the eighth endpoint (2d); If the shortest distance is less than or equal to the tolerance distance, it is determined that the hook (3) of the first tower crane will collide with the tower arm (2) of the second tower crane. If the shortest distance is greater than the tolerance distance, it is determined that the hook (3) of the first tower crane will not collide with the tower arm (2) of the second tower crane.

2. The tower crane group anti-collision control method as described in claim 1, characterized in that, If it is determined that the hook (3) of the first tower crane will collide with the tower arm (2) of the second tower crane, the first tower crane and the second tower crane will stop moving in the current direction.

3. The tower crane group anti-collision control method as described in claim 2, characterized in that, The specific operations for stopping the first tower crane and the second tower crane from moving in the current direction include: Stop the luffing trolley of the first tower crane from moving to the far end, and / or stop the tower boom (2) of the first tower crane from continuing to rotate in the current direction; Stop the second tower crane's boom (2) from continuing to rotate in the current direction.

4. The tower crane group anti-collision control method as described in claim 1, characterized in that, The operation to determine whether the first tower crane and the second tower crane will collide includes: If the first distance is greater than the second distance, then it is determined that the first tower crane and the second tower crane will not collide.

5. The tower crane group anti-collision control method as described in claim 1, characterized in that, The operation of determining whether the first tower crane and the second tower crane will collide also includes: If the first height is greater than the second height, then it is determined that the first tower crane and the second tower crane will not collide.

6. The tower crane group anti-collision control method as described in claim 1, characterized in that, The operation of determining the coordinate parameters of the tower crane specifically includes: The coordinates of the luffing trolley, hook (3) and tower arm (2) end are determined by measuring the distance from the luffing trolley to the tower crane base (1) monitored by the amplitude sensor (5), the height from the hook (3) to the tower arm (2) monitored by the height sensor (6), and the rotation angle of the tower arm (2) monitored by the slewing sensor (7).

7. The tower crane group anti-collision control method as described in claim 6, characterized in that, The operation of determining the coordinate parameters of the tower crane specifically includes: The coordinate parameters of other tower cranes in the tower crane group are determined by the communication module.

8. A tower crane group anti-collision control system, characterized in that, Each tower crane in the tower crane group includes: Memory (8); and A processor (9) coupled to the memory (8) is configured to execute the tower crane group anti-collision control method as described in any one of claims 1 to 7 based on instructions stored in the memory.

9. The tower crane group anti-collision control system as described in claim 8, characterized in that, The tower crane also includes: An amplitude sensor (5) is configured to monitor the distance from the luffing trolley to the base (1) of the tower crane; The height sensor (6) is configured to monitor the height of the hook (3) from the tower arm (2); and A slewing sensor (7) is configured to monitor the rotation angle of the tower arm (2); The processor (9) is connected to the amplitude sensor (5), height sensor (6) and slewing sensor (7) of each tower crane in the tower crane group. It is configured to determine the coordinates of the luffing trolley, hook (3) and tower arm (2) end based on the coordinates of the tower crane base (1) and the monitoring data of the amplitude sensor (5), height sensor (6) and slewing sensor (7).

10. The tower crane group anti-collision control system as described in claim 9, characterized in that, The tower crane also includes: The communication module, which is signal-connected to the processor (9), is configured to acquire the coordinate parameters of other tower cranes in the tower crane group.

11. A computer-readable storage medium having a computer program stored thereon, wherein, When the program is executed by the processor (9), it implements the tower crane group anti-collision control method as described in any one of claims 1 to 7.

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