A tower crane cooperative control system and method based on intelligent monitoring

Abstract

The application relates to a tower crane cooperative control system and method based on intelligent monitoring. A 3D model of goods and a tower crane is established in a transfer simulation system, so that the whole transfer process is simulated in software; and working parameters of lifting mechanisms, luffing mechanisms and slewing mechanisms of the whole tower crane system in the transfer process are recorded. After the working parameters are sent to a tower crane controller, on one hand, the tower crane controller can control each module of the tower crane by taking the working parameters as target parameters; on the other hand, the working parameters can be compared with the target parameters after a running completion substep, so that double insurance is provided on the running accuracy; an image acquisition device is arranged, the image acquisition device acquires the running tracks of each component, so that the actual running track is compared with the simulated running track, the actual positions of each lifting mechanism, luffing mechanism and slewing mechanism are monitored in real time in the actual working process, the working accuracy is ensured, and the safety is improved.

Description

TECHNICAL FIELD

[0001] The application relates to the field of tower crane control, in particular to a tower crane cooperative control system and method based on intelligent monitoring. BACKGROUND

[0002] With China's economy shifting from high-speed growth to high-quality development, the construction industry has gradually entered the stock era. Intelligent construction is the deep integration of new generation information technology and traditional construction industry, which can accelerate the digital transformation of the construction industry and build an intelligent construction industry system that connects the whole industry chain.

[0003] The application number CN202111619139.0 provides a tower crane four-linkage super-large lifting capacity lifting drive system, which comprises four winches, each winch is controlled by a controller; each winch is provided with an absolute value encoder for recording the rotation data of the winch; the winch comprises a drum and a steel cable, and the steel cable is provided with a scale mark; the tower crane four-linkage super-large lifting capacity lifting drive system further comprises a camera for collecting the image of the steel cable.

[0004] The cooperative positioning method used in the application number CN201811205306.5 only needs to start with more than three robots whose coordinates are known, and the positions of all robots can be quickly calculated through positioning algorithm, and the robot positions are calculated in real time during movement.

[0005] The above-mentioned cooperative control method can only detect in real time and cannot predict the working parameters in advance, and cannot realize high-precision control in actual work. SUMMARY

[0006] In view of the above, in order to solve the above problems, a tower crane cooperative control system based on intelligent monitoring is provided, which comprises an upper computer, a transfer simulation system, a tower crane controller, a lifting mechanism controller, an amplitude changing mechanism controller, a slewing mechanism controller and an image acquisition module;

[0007] The upper computer is connected with the tower crane controller and the transfer simulation system, and the transfer simulation system stores 3D models of goods to be installed, starting positions and ending positions of the goods; the transfer simulation system also stores 3D models of multiple tower cranes for cooperative operation;

[0008] The transfer simulation system controls the 3D models of the tower cranes in the system to cooperatively carry the goods from the starting position to the ending position; the position parameters of the lifting mechanism, the amplitude changing mechanism and the slewing mechanism of each 3D model of the tower crane are detected in real time during simulation;

[0009] The host computer sends position parameters of the lifting mechanism, the luffing mechanism and the slewing mechanism in the simulation of the transfer process to the tower crane controller; the tower crane controller controls the lifting mechanism controller, the luffing mechanism controller and the slewing mechanism controller to work, so that the lifting mechanism, the luffing mechanism and the slewing mechanism work; the lifting mechanism controller, the luffing mechanism controller and the slewing mechanism controller send respective working parameters of the lifting mechanism, the luffing mechanism and the slewing mechanism to the tower crane controller;

[0010] During the working process of the tower crane controlled by the tower crane controller, the tower crane controller compares respective working parameters of the lifting mechanism, the luffing mechanism and the slewing mechanism with respective working parameters of the lifting mechanism, the luffing mechanism and the slewing mechanism sent by the host computer; when the deviation of the working parameters exceeds a threshold value, the tower crane controller controls the tower crane to stop working;

[0011] The image acquisition module aligns the lifting mechanism, the luffing mechanism and the slewing mechanism of the tower crane, and records real-time positions of the lifting mechanism, the luffing mechanism and the slewing mechanism in the working process; the image acquisition module sends running tracks of the lifting mechanism, the luffing mechanism and the slewing mechanism to the host computer, and the host computer stores the running tracks of the lifting mechanism, the luffing mechanism and the slewing mechanism in the simulation process;

[0012] When the tracks acquired by the image acquisition module are different from the simulation tracks stored in the host computer, the host computer sends an error warning signal to the tower crane controller.

[0013] The transfer simulation system acquires working parameters of the lifting mechanism, the luffing mechanism and the slewing mechanism of each tower crane in real time during the simulation of the transfer process; the working parameter of the lifting mechanism is the lifting height, the working parameter of the luffing mechanism is the luffing distance, and the working parameter of the slewing mechanism is the slewing angle;

[0014] The transfer simulation system divides the entire simulation transfer process into more than 50 sub-steps, and records the working parameters of the lifting mechanism, the luffing mechanism and the slewing mechanism once for each sub-step; after the simulation transfer is completed, the working parameters of the lifting mechanism, the luffing mechanism and the slewing mechanism are sent to the host computer;

[0015] The host computer sends the working parameters of the lifting mechanism, the luffing mechanism and the slewing mechanism to the tower crane controller;

[0016] The sensors arranged in the real tower crane lifting mechanism, luffing mechanism and slewing mechanism are:

[0017] The lifting mechanism is provided with a lifting height sensor, specifically a position sensor, which can detect the lifting height of the lifting mechanism in real time;

[0018] The amplitude changing distance sensor, specifically a position sensor, is arranged in the amplitude changing mechanism and can detect the amplitude changing distance of the amplitude changing mechanism in real time;

[0019] The rotation angle sensor, specifically an angle encoder, is arranged in the rotation mechanism and can detect the rotation angle of the rotation mechanism in real time;

[0020] After the tower crane controller obtains the working parameters of the hoisting mechanism, the amplitude changing mechanism and the rotation mechanism of 50 or more sub-steps, the tower crane controller controls the hoisting mechanism controller, the amplitude changing mechanism controller and the rotation mechanism controller to work; the hoisting mechanism, the amplitude changing mechanism and the rotation mechanism are first operated to the working parameters of the first sub-step, and then to the working parameters of the second sub-step, and so on, until the entire transfer process is completed.

[0021] The working parameters of the hoisting mechanism, the amplitude changing mechanism and the rotation mechanism in the transfer simulation system also include the working time of each sub-step, i.e., the time length for completing the corresponding sub-step; after the simulation transfer is completed, the working time of each sub-step is sent to the upper computer;

[0022] The upper computer sends the working time of each sub-step to the tower crane controller; after the tower crane controller obtains the working time of 50 or more sub-steps, the tower crane controller controls the hoisting mechanism controller, the amplitude changing mechanism controller and the rotation mechanism controller to work; the hoisting mechanism, the amplitude changing mechanism and the rotation mechanism complete each sub-step strictly according to the working time;

[0023] After each sub-step is completed, the tower crane controller compares the actual working parameters of the hoisting mechanism, the amplitude changing mechanism and the rotation mechanism with the simulation working parameters sent by the upper computer; when the working parameter deviation exceeds the threshold value, the tower crane controller controls the tower crane to stop working.

[0024] The transfer simulation system obtains the actual position coordinates of the hoisting mechanism, the amplitude changing mechanism and the rotation mechanism of each tower crane in real time during the simulation transfer process;

[0025] The transfer simulation system divides the entire simulation transfer process into 50 or more sub-steps, and records the actual position coordinates of the hoisting mechanism, the amplitude changing mechanism and the rotation mechanism once for each sub-step; after the simulation transfer is completed, the actual position coordinates of the hoisting mechanism, the amplitude changing mechanism and the rotation mechanism are sent to the upper computer;

[0026] The actual position coordinates are specifically the spatial coordinate values of the marked points on the hoisting mechanism, the amplitude changing mechanism and the rotation mechanism;

[0027] During the actual transfer process, the image acquisition module acquires the spatial coordinate values of the marked points on the hoisting mechanism, the amplitude changing mechanism and the rotation mechanism in the tower crane working process in real time, and sends them to the upper computer;

[0028] The host computer compares the space coordinate values of the marked points on the lifting mechanism, the luffing mechanism and the slewing mechanism after each sub-step is completed with the simulation coordinate values, and when the deviation exceeds a threshold value, the host computer sends an error warning signal to the tower crane controller.

[0029] The image acquisition module obtains the space coordinate values of the marked points on the lifting mechanism, the luffing mechanism and the slewing mechanism in the following manner:

[0030] The marked points on the lifting mechanism, the luffing mechanism and the slewing mechanism are provided with calibration marks, the size of the calibration marks is fixed and known; the position of the image acquisition module is fixed, and the position of the lens is fixed, so that the calibration marks appear at any pixel in the image collected by the image acquisition module, and the distance between the calibration marks and the image acquisition module can be calculated according to the size of the calibration marks, and the three-dimensional space coordinates of the calibration marks can be calculated in combination with the position of the center pixel where the calibration marks are located.

[0031] The shape of the calibration marks is circular. The number of the cooperating tower cranes is 3 or more than 3.

[0032] The 3D models of the goods and the tower crane are established in the simulation system, so that the entire transfer process is simulated in the software; and the working parameters of the lifting mechanism, the luffing mechanism and the slewing mechanism of the entire tower crane system during the transfer process are recorded, and the working parameters are sent to the tower crane controller, so that the working parameters can be used as target parameters to control the modules of the tower crane, and the working parameters can be compared with the target parameters after the sub-step is completed, so that double insurance is provided for the transfer accuracy.

[0033] The image acquisition device is arranged to acquire the running tracks of the components, so that the actual running tracks are compared with the simulation running tracks, the actual positions of the lifting mechanism, the luffing mechanism and the slewing mechanism are monitored in real time during the actual working process, the working accuracy is ensured, and the safety is improved.

[0034] The system of the application is used in the cooperative work of multiple tower cranes, and the lifting mechanism, the luffing mechanism and the slewing mechanism of each tower crane are controlled and operated synchronously, so that the system has high accuracy, good cooperation and high stability, and is suitable for wider use. In the software of the simulation transfer system, the system can automatically simulate or manually control the simulation, and has higher freedom. BRIEF DESCRIPTION OF DRAWINGS

[0035] The accompanying drawings, which are included to provide a further understanding of the disclosed subject matter and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosed subject matter and together with the description serve to explain principles of the disclosed subject matter. No attempt is made to show structural details of the disclosed subject matter in more detail than can be implied by the principles delineated herein and the illustrative embodiments.

[0036] Figure 1 The schematic diagram of the overall architecture of the present application. DETAILED DESCRIPTION

[0037] Advantages, features, and methods of attaining the objects of the present application will be apparent from the following description, appended claims, and accompanying drawings.

[0038] Example 1:

[0039] A tower crane cooperative control system based on intelligent monitoring, comprising a host computer, a transfer simulation system, a tower crane controller, a hoisting mechanism controller, a luffing mechanism controller, a slewing mechanism controller, and an image acquisition module;

[0040] The host computer is connected to the tower crane controller and the transfer simulation system, and the transfer simulation system stores a 3D model of a cargo to be installed, and a starting position and an end position of the cargo; the transfer simulation system also stores 3D models of multiple tower cranes that cooperatively operate;

[0041] The transfer simulation system controls the 3D models of the tower cranes to cooperatively carry the cargo from the starting position to the end position in the system; and the position parameters of the hoisting mechanism, the luffing mechanism, and the slewing mechanism of each of the 3D models of the tower cranes are detected in real time during the simulation process;

[0042] The host computer sends the position parameters of the hoisting mechanism, the luffing mechanism, and the slewing mechanism during the simulated transfer process to the tower crane controller; the tower crane controller controls the hoisting mechanism controller, the luffing mechanism controller, and the slewing mechanism controller to work, so that the hoisting mechanism, the luffing mechanism, and the slewing mechanism work; the hoisting mechanism controller, the luffing mechanism controller, and the slewing mechanism controller send the respective working parameters of the hoisting mechanism, the luffing mechanism, and the slewing mechanism to the tower crane controller;

[0043] During the process in which the tower crane controller controls the tower crane to work, the tower crane controller continuously compares the respective working parameters of the hoisting mechanism, the luffing mechanism, and the slewing mechanism with the respective working parameters of the hoisting mechanism, the luffing mechanism, and the slewing mechanism sent by the host computer; when the deviation of the working parameters exceeds a threshold value, the tower crane controller controls the tower crane to stop working;

[0044] The image acquisition module is aligned with the lifting mechanism, the luffing mechanism and the slewing mechanism of the tower crane, and records real-time positions in the working process of the lifting mechanism, the luffing mechanism and the slewing mechanism; the image acquisition module sends the running track of the lifting mechanism, the luffing mechanism and the slewing mechanism to the upper computer, and the upper computer stores the running track of the lifting mechanism, the luffing mechanism and the slewing mechanism in the simulation process;

[0045] When the track acquired by the image acquisition module is different from the simulation track stored in the upper computer, the upper computer sends an error warning signal to the tower crane controller.

[0046] The working parameters of the lifting mechanism, the luffing mechanism and the slewing mechanism of each tower crane are acquired in real time in the simulation of the transfer process; the working parameter of the lifting mechanism is the lifting height, the working parameter of the luffing mechanism is the luffing distance, and the working parameter of the slewing mechanism is the slewing angle;

[0047] The transfer simulation system divides the entire simulation transfer process into more than 50 sub-steps, and records the working parameters of the lifting mechanism, the luffing mechanism and the slewing mechanism once for each sub-step; after the simulation transfer is completed, the working parameters of the lifting mechanism, the luffing mechanism and the slewing mechanism are sent to the upper computer;

[0048] The upper computer sends the working parameters of the lifting mechanism, the luffing mechanism and the slewing mechanism to the tower crane controller;

[0049] The sensors arranged in the real tower crane lifting mechanism, luffing mechanism and slewing mechanism are:

[0050] The lifting mechanism is provided with a lifting height sensor, specifically a position sensor, which can detect the lifting height of the lifting mechanism in real time;

[0051] The luffing mechanism is provided with a luffing distance sensor, specifically a position sensor, which can detect the luffing distance of the luffing mechanism in real time;

[0052] The slewing mechanism is provided with a slewing angle sensor, specifically an angle encoder, which can detect the slewing angle of the slewing mechanism in real time;

[0053] After the tower crane controller acquires the working parameters of the lifting mechanism, the luffing mechanism and the slewing mechanism of more than 50 sub-steps, it controls the working of the lifting mechanism controller, the luffing mechanism controller and the slewing mechanism controller; so that the lifting mechanism, the luffing mechanism and the slewing mechanism are first operated to the working parameters of the first sub-step; then operated to the working parameters of the second sub-step, and so on, until the entire transfer process is completed.

[0054] The working parameters of the lifting mechanism, the luffing mechanism and the slewing mechanism in the transfer simulation system also include the working time of each sub-step, i.e. the time length for completing the corresponding sub-step; after the simulation transfer is completed, the working time of each sub-step is sent to the upper computer;

[0055] The host computer sends the working time of each sub-step to the tower crane controller; after the tower crane controller obtains the working time of more than 50 sub-steps, the tower crane controller controls the working of the hoisting mechanism controller, the luffing mechanism controller and the slewing mechanism controller; so that the hoisting mechanism, the luffing mechanism and the slewing mechanism complete each sub-step strictly according to the working time.

[0056] After each sub-step is completed, the tower crane controller compares the actual working parameters of the hoisting mechanism, the luffing mechanism and the slewing mechanism with the simulated working parameters sent by the host computer, and when the deviation of the working parameters exceeds the threshold value, the tower crane controller controls the tower crane to stop working.

[0057] The transfer simulation system obtains the actual position coordinates of the hoisting mechanism, the luffing mechanism and the slewing mechanism of each tower crane in real time during the simulation of the transfer process.

[0058] The transfer simulation system divides the entire simulation transfer process into more than 50 sub-steps, and records the actual position coordinates of the hoisting mechanism, the luffing mechanism and the slewing mechanism once for each sub-step; after the simulation transfer is completed, the actual position coordinates of the hoisting mechanism, the luffing mechanism and the slewing mechanism are sent to the host computer.

[0059] The actual position coordinates are specifically the space coordinate values of the marked points on the hoisting mechanism, the luffing mechanism and the slewing mechanism;

[0060] During the actual transfer process, the image acquisition module acquires the space coordinate values of the marked points on the hoisting mechanism, the luffing mechanism and the slewing mechanism in real time during the working process of the tower crane, and sends them to the host computer.

[0061] In the host computer, the space coordinate values of the marked points on the hoisting mechanism, the luffing mechanism and the slewing mechanism after each sub-step is completed are compared with the simulated coordinate values, and when the deviation exceeds the threshold value, the host computer sends an error warning signal to the tower crane controller.

[0062] The image acquisition module acquires the space coordinate values of the marked points on the hoisting mechanism, the luffing mechanism and the slewing mechanism in the following manner:

[0063] The marked points on the hoisting mechanism, the luffing mechanism and the slewing mechanism are provided with calibration marks, and the size of the calibration marks is fixed and known; the position of the image acquisition module is fixed, and the position of the lens is fixed, so that the calibration marks appear at any pixel in the image acquired by the image acquisition module, and the distance between the calibration marks and the image acquisition module can be calculated according to the size of the calibration marks, and further the three-dimensional space coordinates of the calibration marks can be calculated in combination with the position of the center pixel where the calibration marks are located.

[0064] The shape of the calibration mark is circular. The number of the tower cranes working cooperatively is 3 or more.

[0065] Embodiment 2:

[0066] This embodiment further describes the working process.

[0067] Image acquisition calibration:

[0068] A circular calibration mark is installed on the marking point of the lifting mechanism, the luffing mechanism, and the slewing mechanism, and the size of the calibration mark is fixed and known. The image acquisition module is fixed in position, and the lens position is fixed, so that the calibration mark appears at any pixel in the image acquired by the image acquisition module. According to the size of the calibration mark, the distance of the calibration mark from the image acquisition module can be calculated, and further combined with the position of the center pixel where the calibration mark is located, the three-dimensional space coordinates of the calibration mark can be calculated.

[0069] Specifically, since the spatial range of the image acquired by the image acquisition module is a cone, each pixel in each image acquired by the image acquisition module actually corresponds to a ray from the center of the image acquisition module in three-dimensional space. As long as the distance of the actual object from the image acquisition module is known, the three-dimensional space coordinates of the actual object can be obtained by further combining the pixel position.

[0070] The size of the calibration mark is calculated by obtaining the maximum diameter of the calibration mark in the image, and the size corresponding to the maximum diameter is the size of the calibration mark. Since the closer the mark is to the image acquisition module, the larger the mark size, and the farther the mark is, the smaller the mark size, the actual distance of the calibration mark can be calculated according to the size of the calibration mark and the magnification of the lens of the image acquisition module.

[0071] During calibration, multiple circular calibration marks with known three-dimensional space coordinates are placed at predetermined positions, and then the image acquisition module is used to acquire the images thereof. By inputting the corresponding actual three-dimensional space coordinates into the image acquisition module, the calibration of the image acquisition is realized.

[0072] Transport simulation:

[0073] When multiple tower cranes need to cooperatively transport goods, the 3D model of the goods to be installed and the starting position and end position of the goods need to be saved in the transport simulation system. The 3D models of the multiple tower cranes that cooperatively operate are also saved in the transport simulation system.

[0074] The transport simulation system controls the 3D models of the tower cranes in the system to cooperatively carry the goods from the starting position to the end position. During the simulation process, the position parameters of the lifting mechanism, the luffing mechanism, and the slewing mechanism of each tower crane are detected in real time.

[0075] The whole simulation transportation process is divided into more than 50 sub-steps, and the working parameters of the lifting mechanism, the amplitude changing mechanism and the rotating mechanism are recorded respectively in each sub-step; and the working parameters of the lifting mechanism, the amplitude changing mechanism and the rotating mechanism are sent to the upper computer after the simulation transportation is completed.

[0076] The whole simulation transportation process is divided into more than 50 sub-steps, and the actual position coordinates of the lifting mechanism, the amplitude changing mechanism and the rotating mechanism are recorded respectively in each sub-step; and the actual position coordinates of the lifting mechanism, the amplitude changing mechanism and the rotating mechanism are sent to the upper computer after the simulation transportation is completed.

[0077] Actual transportation:

[0078] After the tower crane controller obtains the working parameters of the lifting mechanism, the amplitude changing mechanism and the rotating mechanism in more than 50 sub-steps, the tower crane controller controls the working of the lifting mechanism controller, the amplitude changing mechanism controller and the rotating mechanism controller; and the lifting mechanism, the amplitude changing mechanism and the rotating mechanism are first operated to the working parameters of the first sub-step, then to the working parameters of the second sub-step, and so on, until the whole transportation process is completed.

[0079] In the actual transportation process, the image acquisition module acquires the space coordinate values of the marked points on the lifting mechanism, the amplitude changing mechanism and the rotating mechanism in the working process of the tower crane in real time, and sends the space coordinate values to the upper computer.

[0080] After each sub-step is completed, the tower crane controller compares the actual working parameters of the lifting mechanism, the amplitude changing mechanism and the rotating mechanism with the simulation working parameters sent by the upper computer, and when the deviation of the working parameters exceeds the threshold value, the tower crane controller controls the tower crane to stop working. In the upper computer, the space coordinate values of the marked points on the lifting mechanism, the amplitude changing mechanism and the rotating mechanism after each sub-step is completed are compared with the simulation coordinate values, and when the deviation exceeds the threshold value, the upper computer sends an error warning signal to the tower crane controller.

[0081] The above is only the preferred embodiment of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A collaborative control system for a tower crane based on intelligent monitoring, comprising a host computer, a transfer simulation system, a tower crane controller, a hoisting mechanism controller, a luffing mechanism controller, a slewing mechanism controller, and an image acquisition module; characterized in that: The host computer connects to the tower crane controller and the transfer simulation system. The transfer simulation system stores a 3D model of the goods to be installed, as well as the starting and ending positions of the goods. The transfer simulation system also stores 3D models of multiple tower cranes operating in coordination. The transfer simulation system controls a 3D model of a tower crane within the system to collaboratively carry goods from the starting position to the destination position. The position parameters of the hoisting mechanism, luffing mechanism, and slewing mechanism of each tower crane's 3D model are monitored in real time during the simulation. The host computer sends the position parameters of the hoisting mechanism, luffing mechanism, and slewing mechanism during the simulated transfer process to the tower crane controller. The tower crane controller controls the hoisting mechanism controller, luffing mechanism controller, and slewing mechanism controller to operate, enabling the hoisting mechanism, luffing mechanism, and slewing mechanism to work. Each hoisting mechanism, luffing mechanism, and slewing mechanism is equipped with its own detection module for working parameters. The hoisting mechanism controller, luffing mechanism controller, and slewing mechanism controller send their respective working parameters to the tower crane controller. During the tower crane operation controlled by the tower crane controller, the tower crane controller continuously compares the working parameters of the hoisting mechanism, luffing mechanism, and slewing mechanism with those sent by the host computer. When the deviation of the working parameters exceeds a threshold, the tower crane controller stops the tower crane from working. The image acquisition module is aimed at the hoisting mechanism, luffing mechanism, and slewing mechanism of the tower crane, and records the real-time position of the hoisting mechanism, luffing mechanism, and slewing mechanism during their operation. The image acquisition module sends the running trajectory of the hoisting mechanism, luffing mechanism, and slewing mechanism to the host computer, which stores the running trajectory of the hoisting mechanism, luffing mechanism, and slewing mechanism during the simulation. When the trajectory acquired by the image acquisition module differs from the simulated trajectory stored in the host computer, the host computer sends an error warning signal to the tower crane controller.

2. The tower crane collaborative control system based on intelligent monitoring according to claim 1, characterized in that: The transfer simulation system acquires the working parameters of the hoisting mechanism, luffing mechanism, and slewing mechanism of each tower crane in real time during the simulated transfer process; the working parameter of the hoisting mechanism is the hoisting height, the working parameter of the luffing mechanism is the luffing distance, and the working parameter of the slewing mechanism is the slewing angle. The transfer simulation system divides the entire simulated transfer process into more than 50 sub-steps. Each sub-step records the working parameters of the hoisting mechanism, luffing mechanism, and slewing mechanism. After the simulated transfer is completed, the working parameters of the hoisting mechanism, luffing mechanism, and slewing mechanism are sent to the host computer. The host computer sends the operating parameters of the hoisting mechanism, luffing mechanism, and slewing mechanism to the tower crane controller; The sensors installed in the hoisting mechanism, luffing mechanism, and slewing mechanism of a real tower crane are: The lifting mechanism is equipped with a lifting height sensor, specifically a position sensor, which can detect the lifting height of the lifting mechanism in real time; The luffing mechanism is equipped with a luffing distance sensor, specifically a position sensor, which can detect the luffing distance of the luffing mechanism in real time; The slewing mechanism is equipped with a slewing angle sensor, specifically an angle encoder, which can detect the slewing angle of the slewing mechanism in real time. After the tower crane controller obtains the working parameters of the hoisting mechanism, luffing mechanism, and slewing mechanism for more than 50 sub-steps, it controls the hoisting mechanism controller, luffing mechanism controller, and slewing mechanism controller to work, so that the hoisting mechanism, luffing mechanism, and slewing mechanism first operate to the working parameters of the first sub-step, then operate to the working parameters of the second sub-step, and so on, until the entire transfer process is completed.

3. The tower crane collaborative control system based on intelligent monitoring according to claim 2, characterized in that: The working parameters of the hoisting mechanism, luffing mechanism, and slewing mechanism in the transfer simulation system also include the working time of each sub-step, that is, the time to complete the corresponding sub-step; after the simulated transfer is completed, the working time of each sub-step is sent to the host computer. The host computer sends the working time of each sub-step to the tower crane controller; after the tower crane controller obtains the working time of more than 50 sub-steps, it controls the hoisting mechanism controller, luffing mechanism controller, and slewing mechanism controller to work, so that the hoisting mechanism, luffing mechanism, and slewing mechanism strictly complete each sub-step according to the working time; After each sub-step is completed, the tower crane controller compares the actual working parameters of the hoisting mechanism, luffing mechanism, and slewing mechanism with the simulated working parameters sent by the host computer. When the deviation of the working parameters exceeds the threshold, the tower crane controller controls the tower crane to stop working.

4. The tower crane collaborative control system based on intelligent monitoring according to claim 1, characterized in that: The transfer simulation system acquires the real-time position coordinates of the hoisting mechanism, luffing mechanism, and slewing mechanism of each tower crane during the simulated transfer process; The transfer simulation system divides the entire simulated transfer process into more than 50 sub-steps. Each sub-step records the actual position coordinates of the hoisting mechanism, luffing mechanism, and slewing mechanism. After the simulated transfer is completed, the actual position coordinates of the hoisting mechanism, luffing mechanism, and slewing mechanism are sent to the host computer. The actual position coordinates are specifically the spatial coordinates of the marked points on the hoisting mechanism, luffing mechanism, and slewing mechanism. During the actual transfer process, the image acquisition module collects the spatial coordinates of the marked points on the hoisting mechanism, luffing mechanism, and slewing mechanism in real time and sends them to the host computer. In the host computer, the spatial coordinate values ​​of the marked points on the hoisting mechanism, luffing mechanism, and slewing mechanism after each sub-step are completed are compared with the simulated coordinate values. When the deviation exceeds the threshold, the host computer sends an error warning signal to the tower crane controller.

5. The intelligent monitoring-based collaborative control system for tower cranes according to claim 4, characterized in that: The spatial coordinates of the marked points on the hoisting mechanism, luffing mechanism, and slewing mechanism of the image acquisition module are obtained as follows: The hoisting mechanism, luffing mechanism, and slewing mechanism are equipped with calibration marks. The size of the calibration marks is fixed and known. The image acquisition module itself is in a fixed position, and the lens position is fixed. This ensures that a calibration mark appears at any pixel in the image acquired by the image acquisition module. The distance between the calibration mark and the image acquisition module can be calculated based on the size of the calibration mark. Furthermore, the three-dimensional spatial coordinates of the calibration mark can be calculated by combining the position of the center pixel where the calibration mark is located.

6. The tower crane collaborative control system based on intelligent monitoring according to claim 5, characterized in that: The calibration mark is circular in shape.

7. The tower crane collaborative control system based on intelligent monitoring according to claim 1, characterized in that: The number of tower cranes working together is three or more.

8. A collaborative control method for tower cranes based on intelligent monitoring, characterized in that: Image acquisition calibration: Circular calibration marks are installed at the marking points on the hoisting mechanism, luffing mechanism, and slewing mechanism. The size of the calibration marks is fixed and known. The position of the image acquisition module itself is fixed, and the position of the lens is fixed. This ensures that a calibration mark appears at any pixel in the image acquired by the image acquisition module. The distance between the calibration mark and the image acquisition module can be calculated based on the size of the calibration mark. Furthermore, the three-dimensional spatial coordinates of the calibration mark can be calculated by combining the position of the center pixel where the calibration mark is located. The size of the calibration mark is calculated by obtaining the largest diameter of the calibration mark in the image; the size corresponding to the largest diameter is the size of the calibration mark. Since the closer the mark is to the image acquisition module, the larger the mark size, and the farther away the mark is, the smaller the mark size. Based on the size of the calibration mark and the magnification of the image acquisition module's lens, the actual distance of the calibration mark can be calculated. (Transportation simulation follows.) When multiple tower cranes need to be used to transfer goods in a coordinated manner, it is necessary to first save the 3D model of the goods to be installed, as well as the starting and ending positions of the goods, in the transfer simulation system; the transfer simulation system also saves the 3D models of the multiple tower cranes operating in a coordinated manner. The transfer simulation system controls a 3D model of a tower crane within the system to collaboratively carry goods from the starting position to the destination position. The position parameters of the hoisting mechanism, luffing mechanism, and slewing mechanism of each tower crane's 3D model are monitored in real time during the simulation. The transfer simulation system divides the entire simulated transfer process into more than 50 sub-steps. Each sub-step records the working parameters of the hoisting mechanism, luffing mechanism, and slewing mechanism. After the simulated transfer is completed, the working parameters of the hoisting mechanism, luffing mechanism, and slewing mechanism are sent to the host computer. The transfer simulation system divides the entire simulated transfer process into more than 50 sub-steps. Each sub-step records the actual position coordinates of the hoisting mechanism, luffing mechanism, and slewing mechanism. After the simulated transfer is completed, the actual position coordinates of the hoisting mechanism, luffing mechanism, and slewing mechanism are sent to the host computer. Actual transit: After the tower crane controller obtains the working parameters of the hoisting mechanism, luffing mechanism, and slewing mechanism for more than 50 sub-steps, it controls the hoisting mechanism controller, luffing mechanism controller, and slewing mechanism controller to work, so that the hoisting mechanism, luffing mechanism, and slewing mechanism first operate to the working parameters of the first sub-step, then operate to the working parameters of the second sub-step, and so on, until the entire transfer process is completed.

9. The collaborative control method for tower cranes based on intelligent monitoring according to claim 8, characterized in that: During the actual transfer process, the image acquisition module collects the spatial coordinates of the marked points on the hoisting mechanism, luffing mechanism, and slewing mechanism of the tower crane in real time and sends them to the host computer.

10. The collaborative control method for tower cranes based on intelligent monitoring according to claim 9, characterized in that: After each sub-step is completed, the tower crane controller compares the actual working parameters of the hoisting mechanism, luffing mechanism, and slewing mechanism with the simulated working parameters sent by the host computer. When the deviation of the working parameters exceeds the threshold, the tower crane controller controls the tower crane to stop working. In the host computer, the spatial coordinate values ​​of the marked points on the hoisting mechanism, luffing mechanism, and slewing mechanism after each sub-step are completed are compared with the simulated coordinate values. When the deviation exceeds the threshold, the host computer sends an error warning signal to the tower crane controller.

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