Tower crane control method and system, control terminal and storage medium

Abstract

The application discloses a tower crane control method and system, a control terminal and a storage medium, relates to the technical field of tower crane control, and the tower crane comprises a tower arm and a hook. The control method comprises the following steps: acquiring first position information of a first position and second position information of a second position on the tower arm at a first moment; obtaining the pitch angle of the tower arm according to the first position information and the second position information; obtaining the spatial position information of the hook according to the length of the tower arm and the pitch angle, so as to control the state of the tower crane according to the spatial position information of the hook. The real-time pitch angle of the tower arm is obtained by simultaneously acquiring the position information of two different positions on the tower arm, the real-time spatial position information of the hook can be obtained by using the real-time pitch angle, the hoisting operation can be more accurately completed, and the control efficiency is improved and the safety hidden danger is reduced.

Description

Technical Field

[0001] This application relates to the technical field of tower crane control, and more specifically, to a tower crane control method and system, a control terminal, and a computer-readable storage medium. Background Technology

[0002] Currently, tower crane operation and workflow remain largely manual, relying on manual control and command. In the complex environment of construction sites, tower cranes are controlled by a programmable logic controller (PLC) in the overhead cockpit, with the crane's direction of movement determined manually. This method of tower crane control is inefficient and inaccurate, and it is also prone to collisions with obstacles, leading to safety issues. Summary of the Invention

[0003] In view of the above, this application provides a tower crane control method and system, a control terminal and a computer-readable storage medium to improve the efficiency and accuracy of tower crane control.

[0004] A first aspect of this application provides a tower crane control method, the tower crane including a jib and a hook, the method comprising:

[0005] At the first moment, acquire the first position information of the first position and the second position information of the second position on the tower arm;

[0006] The pitch angle of the tower arm is obtained based on the first position information and the second position information;

[0007] The spatial position information of the hook is obtained based on the length of the tower arm and the pitch angle, so as to control the state of the tower crane according to the spatial position information of the hook.

[0008] Thus, at the first moment, after the control terminal acquires the first position information of the first position and the second position information of the second position on the tower boom, it obtains the tower boom's pitch angle based on the first and second position information. Finally, based on the tower boom's length and the pitch angle, it obtains the hook's spatial position information, thereby controlling the tower crane's state according to the hook's spatial position information. By simultaneously acquiring the position information of two different positions on the tower boom, the real-time pitch angle of the tower boom is obtained. Using the real-time pitch angle, the real-time spatial position information of the hook can be obtained, enabling more precise lifting operations, improving control efficiency, and reducing safety hazards.

[0009] As an optional implementation of the first aspect, obtaining the pitch angle of the tower arm based on the first position information and the second position information includes:

[0010] The distance between the first location and the second location is obtained based on the longitude and latitude of the first location information and the longitude and latitude of the second location information;

[0011] The elevation difference between the first location and the second location is obtained based on the elevation of the first location information and the elevation of the second location information;

[0012] The pitch angle of the tower arm is obtained based on the distance and the elevation difference.

[0013] Thus, the distance between the first and second positions can be obtained based on the longitude and latitude of the first and second positions, the elevation difference between the first and second positions can be obtained based on the elevation of the first and second positions, and finally the pitch angle of the tower arm can be obtained based on the distance and the elevation difference.

[0014] As an optional implementation of the first aspect, after the step of acquiring the first position information of the first position and the second position information of the second position on the tower arm at the first moment, the method further includes:

[0015] At the second moment, the third position information of the first position and the fourth position information of the second position on the tower arm are obtained;

[0016] The rotation angle of the tower arm is obtained based on the first position information, the second position information, the third position information, and the fourth position information;

[0017] The spatial position information of the hook is obtained based on the length of the tower arm, the pitch angle, and the rotation angle.

[0018] Thus, at the second moment, after the control terminal acquires the third position information of the first position and the fourth position information of the second position on the tower arm, it then obtains the rotation angle of the tower arm based on the first, second, third, and fourth position information. Finally, it obtains the spatial position information of the hook based on the length of the tower arm, the pitch angle, and the rotation angle, thereby controlling the state of the tower crane based on the spatial position information of the hook. By simultaneously acquiring the position information of two different positions on the tower arm at the first and second moments to obtain the real-time rotation angle of the tower arm, and obtaining the spatial position information of the hook based on the length of the tower arm, the rotation angle, and the pitch angle, the state of the tower crane can be controlled based on the spatial position information of the hook. This eliminates the need for numerous sensors to simultaneously calculate the pitch angle and rotation angle of the tower crane, thereby obtaining the real-time spatial position information of the hook. This allows for precise control of the tower crane to perform corresponding operations, reducing costs, improving control efficiency, simplifying the control system, and reducing safety hazards.

[0019] As an optional implementation of the first aspect, obtaining the rotation angle of the tower arm based on the first position information, the second position information, the third position information, and the fourth position information includes:

[0020] The first slope is obtained based on the first position information and the second position information;

[0021] The second slope is obtained based on the third and fourth position information;

[0022] The rotation angle of the tower arm is obtained based on the first slope and the second slope.

[0023] Thus, the first slope can be obtained based on the first and second position information, the second slope can be obtained based on the third and fourth position information, and the rotation angle of the tower arm can be obtained based on the first and second slopes.

[0024] A second aspect of this application provides a tower crane control system for controlling a tower crane, the tower crane including a jib and a hook, the tower crane control system including: a control terminal.

[0025] The control terminal is used for:

[0026] At the first moment, acquire the first position information of the first position and the second position information of the second position on the tower arm;

[0027] The pitch angle of the tower arm is obtained based on the first position information and the second position information;

[0028] The spatial position information of the hook is obtained based on the length of the tower arm and the pitch angle, so as to control the state of the tower crane according to the spatial position information of the hook.

[0029] Thus, at the first moment, after the control terminal acquires the first position information of the first position and the second position information of the second position on the tower jib, it obtains the pitch angle of the tower jib based on the first and second position information. Finally, based on the length of the tower jib and the pitch angle, it obtains the spatial position information of the hook, thereby controlling the state of the tower crane according to the spatial position information of the hook. By simultaneously acquiring the position information of two different positions on the tower jib, the real-time pitch angle of the tower jib is obtained. Using the real-time pitch angle, the real-time spatial position information of the hook can be obtained, enabling more precise lifting operations, improving control efficiency, and reducing safety hazards. The control terminal independently interfaces with the tower crane control system to realize intelligent applications and has system expansion capabilities.

[0030] As an optional implementation of the second aspect, the tower crane control system further includes a position information acquisition device.

[0031] The location information acquisition device is used to acquire the first location information and the third location information of the first location on the tower arm, and the second location information and the fourth location information of the second location.

[0032] In this way, the control terminal can obtain the first, second, third, and fourth position information on the tower arm through the position information acquisition device, and thus calculate the real-time pitch angle and real-time rotation angle.

[0033] As an optional implementation of the second aspect, the tower crane control system further includes a programmable logic controller (PLC), which is configured to receive control commands generated by the control terminal based on the spatial position information of the hook, and control the state of the tower crane according to the control commands.

[0034] In this way, after the control terminal calculates the real-time spatial position information of the hook, it generates control commands based on the spatial position information of the hook, and then uses the programmable logic controller to precisely control the state of the tower crane, enabling the tower crane operator to achieve remote and precise control of the tower crane and reduce safety hazards.

[0035] As an optional implementation of the second aspect, the control terminal is further configured to obtain the distance between the first location and the second location based on the longitude and latitude of the first location information and the longitude and latitude of the second location information;

[0036] The elevation difference between the first location and the second location is obtained based on the elevation of the first location information and the elevation of the second location information;

[0037] The pitch angle of the tower arm is obtained based on the distance and the elevation difference.

[0038] Thus, the distance between the first and second positions can be obtained based on the longitude and latitude of the first and second positions, the elevation difference between the first and second positions can be obtained based on the elevation of the first and second positions, and finally the pitch angle of the tower arm can be obtained based on the distance and the elevation difference.

[0039] As an alternative implementation of the second aspect,

[0040] The control terminal is also used to acquire, at a second moment, the third position information of the first position and the fourth position information of the second position on the tower arm;

[0041] The rotation angle of the tower arm is obtained based on the first position information, the second position information, the third position information, and the fourth position information;

[0042] The spatial position information of the hook is obtained based on the length of the tower arm, the pitch angle, and the rotation angle.

[0043] Thus, at the second moment, after the control terminal acquires the third position information of the first position and the fourth position information of the second position on the tower arm, it then obtains the rotation angle of the tower arm based on the first, second, third, and fourth position information. Finally, it obtains the spatial position information of the hook based on the length of the tower arm, the pitch angle, and the rotation angle, thereby controlling the state of the tower crane based on the spatial position information of the hook. By simultaneously acquiring the position information of two different positions on the tower arm at the first and second moments to obtain the real-time rotation angle of the tower arm, and obtaining the spatial position information of the hook based on the length of the tower arm, the rotation angle, and the pitch angle, the state of the tower crane can be controlled based on the spatial position information of the hook. This eliminates the need for numerous sensors to simultaneously calculate the pitch angle and rotation angle of the tower crane, thereby obtaining the real-time spatial position information of the hook. This allows for precise control of the tower crane to perform corresponding operations, reducing costs, improving control efficiency, simplifying the control system, and reducing safety hazards.

[0044] As an optional implementation of the second aspect, the control terminal is further configured to obtain a first slope based on the first position information and the second position information;

[0045] The second slope is obtained based on the third and fourth position information;

[0046] The rotation angle of the tower arm is obtained based on the first slope and the second slope.

[0047] Thus, the first slope can be obtained based on the first and second position information, the second slope can be obtained based on the third and fourth position information, and the rotation angle of the tower arm can be obtained based on the first and second slopes.

[0048] A third aspect of this application provides a control terminal, which includes a processor and a memory. The memory stores a computer program, and when the computer program is executed by the processor, it implements the tower crane control method described above.

[0049] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the tower crane control method as described above.

[0050] The tower crane control method and system, control terminal, and computer-readable storage medium of this application, in a first instant, after the control terminal acquires the first position information of a first position and the second position information of a second position on the tower arm, obtains the pitch angle of the tower arm based on the first and second position information, and finally obtains the spatial position information of the hook based on the length of the tower arm and the pitch angle, thereby controlling the state of the tower crane according to the spatial position information of the hook. By simultaneously acquiring the position information of two different positions on the tower arm to obtain the real-time pitch angle of the tower arm, the real-time spatial position information of the hook can be obtained using the real-time pitch angle, which can more accurately complete the lifting operation, improve control efficiency, and reduce safety hazards.

[0051] Additional aspects and advantages of embodiments of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of this application. Attached Figure Description

[0052] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0053] Figure 1 This is a structural diagram of a tower crane;

[0054] Figure 2 This is a schematic diagram of the connection between the control terminal and the GNSS dual-line device according to an embodiment of this application;

[0055] Figure 3 This is a flowchart illustrating the tower crane control method according to an embodiment of this application;

[0056] Figure 4 This is a schematic diagram of a scenario of the tower crane control method according to an embodiment of this application;

[0057] Figure 5 This is a flowchart illustrating the tower crane control method according to an embodiment of this application;

[0058] Figure 6 This is a flowchart illustrating the tower crane control method according to an embodiment of this application;

[0059] Figure 7 This is a schematic diagram of another scenario of the tower crane control method according to the embodiments of this application;

[0060] Figure 8 This is a flowchart illustrating the tower crane control method according to an embodiment of this application;

[0061] Figure 9 This is a flowchart illustrating the tower crane control method according to an embodiment of this application;

[0062] Figure 10This is a schematic diagram of the system block diagram of the tower crane control system according to the embodiments of this application;

[0063] Figure 11 This is a schematic diagram of the process of the tower crane control system according to the embodiments of this application performing hoisting operations;

[0064] Figure 12 This is a flowchart illustrating the safety mechanism check performed by the tower crane control system according to the embodiments of this application;

[0065] Figure 13 This is a schematic diagram of the control terminal according to an embodiment of this application. Detailed Implementation

[0066] The terms "first," "second," "third," etc., used in the specification and claims are only for distinguishing similar objects and do not represent a specific ordering of objects. It is understood that, where permissible, a specific order or sequence can be interchanged to allow the embodiments of this application described herein to be implemented in an order other than that illustrated or described herein. In the following description, the reference numerals indicating steps, such as S301, S302, etc., do not imply that this step must be performed. Where permissible, the order of preceding and following steps can be interchanged, or they can be performed simultaneously. The term "comprising" as used in the specification and claims should not be construed as limiting to what follows; it does not exclude other components or steps. Therefore, it should be interpreted as specifying the presence of the mentioned feature, integral, step, or component, but does not exclude the presence or addition of one or more other features, integrals, steps, or components and groups thereof. Therefore, the expression "a device comprising unit A and unit B" should not be limited to a device consisting only of unit A and unit B. The terms "some embodiments" or "implementation" mentioned in this specification mean that a specific feature, structure, or characteristic described in conjunction with that embodiment is included in at least some embodiments of the invention. Therefore, the terms "in some embodiments" or "in embodiments" appearing throughout this specification do not necessarily refer to the same embodiment, but may refer to the same embodiment. Furthermore, in one or more embodiments, specific features, structures, or characteristics can be combined in any suitable manner, as will be apparent to those skilled in the art from this disclosure. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. In case of any inconsistency, the meaning set forth in this specification or derived from the content described herein shall prevail. Additionally, the terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit the scope of this application.

[0067] In order to accurately describe the technical content of this application and to accurately understand the present invention, the following explanations or definitions of the terms used in this specification are given before describing the specific embodiments.

[0068] The Global Navigation Satellite System (GNSS) is a high-precision positioning system that operates in all weather conditions, at all times, and in all regions.

[0069] GNSS receivers can receive signals from GNSS satellites to track, process, and measure these signals.

[0070] The following is a brief explanation of the relevant technologies.

[0071] Please see Figure 1 , Figure 1 This is a schematic diagram of the tower crane 1, also known as a "tower crane," used to move raw materials such as steel bars, concrete, and steel pipes on construction sites. The tower crane includes a tower body 11, a tower jib 12, a lifting rope 13, and a hook 14. The tower crane 1 can move in two modes using the tower jib 12. The first is luffing movement, where the hook 14 moves closer to or further away from the tower body 11 by changing the pitch angle of the tower jib 12. The pitch angle of the tower jib 12 refers to the angle of elevation and the angle of depression formed between the tower jib 12 and the horizontal plane. In other words, the luffing radius of the hook 14 refers to the horizontal distance the hook 14 moves from the tower body 11 during luffing movement. The second mode is rotational movement, which involves rotating the tower jib 12 around the tower body 11 without changing its longitudinal direction, thus moving the hook 14.

[0072] In the entire lifting operation workflow of tower crane 1, the hook operator needs to hook the object onto the hook, the signalman directs the tower crane operator to move the object, and then the unloader unloads the object. Due to the complex site environment and blind spots for all personnel, safety issues are prone to occur. For example, when hook 14 is suspending the object in the air, neither party can accurately identify the object's position. Furthermore, the distance between the signalman and the tower crane operator leads to poor communication, increasing the risk of collisions between the object or tower crane 1 and obstacles. Another example is that the tower crane operator has to climb up and down from the aerial cab of tower crane 1 to confirm the object's exact position, resulting in lost operation time.

[0073] Therefore, this application provides a crane control method and system, a control terminal 100, and a non-volatile computer-readable storage medium, which can improve the efficiency and accuracy of crane control. The location information acquisition device used in this application to simultaneously acquire location information from two different locations on the crane arm can be of various types, such as a GNSS dual-line device 200. This application uses the GNSS dual-line device 200 as an example to illustrate the crane control method.

[0074] Please see Figure 2 , Figure 2 This is a schematic diagram illustrating the connection between the control terminal 100 and the GNSS dual-line device 200 in an embodiment of this application. The GNSS dual-line device 200 includes a GNSS receiver 210, a first antenna 220, and a second antenna 230. The first antenna 220 and the second antenna 230 receive satellite signals and transmit them to the GNSS receiver 210. The GNSS receiver 210 is electrically connected to the control terminal 100 and processes the satellite signals into location information, which is then transmitted to the control terminal 100.

[0075] Please see Figure 3 , Figure 3 This is a flowchart illustrating the tower crane control method in this application. The tower crane control method in this application may include:

[0076] Step S301: At the first moment, acquire the first position information of the first position and the second position information of the second position on the tower arm 12.

[0077] A GNSS dual-line device 200 is installed on tower arm 12. The first antenna 220 and the second antenna 230 can be installed at different positions on tower arm 12 to collect position information from different locations. That is, the first position refers to the location where one of the first antennas 220 and 230 is installed, and the position information at that position is the first position information; the second position refers to the location where the other antenna is installed, and the position information at that position is the second position information. For example, as... Figure 4 As shown, the first antenna 220 is installed at point A on the tower arm 12 and receives satellite signals at point A. The second antenna 220 is installed at point B on the tower arm 12 and receives satellite signals at point B. The GNSS receiver 210 processes the satellite signals at points A and B into location information at points A and B using the Real-time Kinematic (RTK) method, and sends the location information at points A and B to the control terminal 100 so that the control terminal 100 can obtain the location information at points A and B on the tower arm 12.

[0078] During the movement of the tower boom 12, the GNSS dual-line device 200 continuously collects position information at different positions on the tower boom 12. Therefore, the control terminal 100 can obtain the position information of the tower crane 1 at different times during the movement. That is to say, the first moment refers to any moment during the movement of the tower boom 12.

[0079] Understandably, using GNSS dual-line equipment and RTK measurement to obtain high-precision positioning data of different positions of the tower boom 12 can improve the efficiency and accuracy of tower boom 12 motion attitude recognition, and more accurately control the tower boom 12 to carry out hoisting operations.

[0080] Step S302: Obtain the pitch angle of the tower arm 12 based on the first position information and the second position information.

[0081] During the luffing movement of tower crane 1, the control terminal can calculate the real-time pitch angle of tower jib 12 based on different position information on tower jib 12 at a certain moment. For example, please refer to [link to relevant documentation]. Figure 4 After the GNSS dual-line device 200 measures the position information of points A and B through RTK, it sends the position information to the control terminal 100. The control terminal 100 calculates the pitch angle of the tower arm 12 at a certain moment based on the position information of points A and B at a certain moment. By analogy, the real-time pitch angle of the tower arm 12 during the entire luffing movement can be obtained.

[0082] Step S303: Obtain the spatial position information of the hook 14 based on the length and pitch angle of the tower arm 12, so as to control the state of the tower crane 1 based on the spatial position information of the hook 14.

[0083] The length of the tower boom 12 can be measured in advance or obtained from the supplier. Specifically, when the tower crane 1 undergoes luffing movement, the control terminal 100 can obtain the real-time spatial position information of the hook 14 during the luffing movement based on the known length of the tower boom 12 and the real-time pitch angle, combined with geometric formulas such as the Pythagorean theorem.

[0084] The control terminal 100 uses the real-time spatial position information of the hook 14 as the basis for controlling the operation of the tower crane 1, thereby controlling the state of the tower crane 1. For example, based on the real-time spatial position information of the hook 14, if it is found that the hook is too far from the target object, the tower crane 1 or the boom 12 can be moved so that the hook 14 can lift the target object.

[0085] Understandably, by installing a position acquisition device, such as a GNSS dual-line device 200, on the tower boom 12 that can simultaneously acquire position information from two different positions on the tower boom, the control terminal 100 can obtain the real-time pitch angle of the tower boom 12. Using the real-time pitch angle, the real-time spatial position information of the hook 14 can be obtained. Then, the control terminal 100 controls the PLC controller 110 of the tower crane 1 based on the real-time spatial position information. Figure 8 (As shown in the figure) This allows for more precise lifting operations. Compared to manually determining the position of tower crane 1, the control method of this application can largely avoid safety issues caused by collisions between tower crane 1 and obstacles and improve control efficiency.

[0086] Thus, at the first moment, after the control terminal 100 acquires the first position information of the first position and the second position information of the second position on the tower boom 12, it obtains the pitch angle of the tower boom 12 based on the first and second position information. Finally, it obtains the spatial position information of the hook 14 based on the length of the tower boom 12 and the pitch angle, and then controls the state of the tower crane 1 based on the spatial position information of the hook 14. By simultaneously acquiring the position information of two different positions on the tower boom 12, the real-time pitch angle of the tower boom 12 is obtained. Using the real-time pitch angle, the real-time spatial position information of the hook 14 can be obtained, which can more accurately complete the lifting operation, improve control efficiency, and reduce safety hazards.

[0087] Please see Figure 5 As an optional implementation, step S302 may include the following steps:

[0088] S501: Calculate the distance between the first location and the second location based on the longitude and latitude of the first location information and the longitude and latitude of the second location information;

[0089] The location information acquired by the GNSS dual-line device 200 is represented as coordinate information in a geocentric reference system. For example, please refer to [link to relevant documentation]. Figure 4 Let the location information of point A at a certain moment be denoted as A(gax,gay,gaz) and the location information of point B be denoted as B(gbx,gby,gbz). Where gax represents the latitude of point A, gay represents the longitude of point A, gaz represents the elevation of point A, gbx represents the latitude of point B, gby represents the longitude of point B, and gbz represents the elevation of point B.

[0090] During the luffing movement of tower crane 1, the distance between different positions on the tower arm 12 at a given moment can be calculated first, based on the longitude and latitude of those positions. Specifically, the longitude and latitude of different positions in the geocentric reference system are converted to their corresponding values ​​on the Y and X axes of a rectangular coordinate system, and then the distance is calculated using vector formulas. For example, please refer to [link to relevant documentation]. Figure 4 Convert the longitude and latitude of points A and B into corresponding values ​​on the Y-axis and X-axis of a rectangular coordinate system, and then calculate the distance d between points A and B using vector formulas.

[0091] S502: Obtain the elevation difference between the first position and the second position based on the elevation of the first position information and the elevation of the second position information;

[0092] Secondly, the elevation difference between different positions on tower arm 12 at a given moment can be obtained. Specifically, the elevations of different positions in the geocentric reference system are converted to their corresponding values ​​on the Z-axis of a rectangular coordinate system, and then the elevation difference is calculated using vector formulas. For example, please refer to [further details omitted]. Figure 4 The elevations at points A and B are converted to their corresponding values ​​on the Z-axis of a rectangular coordinate system, and then the elevation difference h between points A and B is calculated using vector formulas.

[0093] S503: The pitch angle of tower arm 12 is obtained based on the distance and elevation difference;

[0094] Finally, after calculating the distance d and the elevation difference h, the pitch angle α of tower arm 12 can be obtained by combining the following formula:

[0095] α=sin -1 (h / d)

[0096] Understandably, the pitch angle of the tower arm can be obtained from the longitude, latitude, and elevation of the first and second positions on the tower arm 12 collected by the GNSS dual-line device 200.

[0097] Thus, the distance between the first and second positions can be obtained based on the longitude and latitude of the first and second positions, the elevation difference between the first and second positions can be obtained based on the elevation of the first and second positions, and finally the pitch angle of the tower arm 12 can be obtained based on the distance and the elevation difference.

[0098] Please see Figure 6 As an optional implementation, the following steps may also be included after step S301:

[0099] S601: At the second moment, acquire the third position information of the first position and the fourth position information of the second position on the tower arm 12;

[0100] The second moment refers to the point in the movement of the tower arm 12 that differs from the first moment. In other words, the first and second moments are two distinct points in the movement of the tower arm 12. At the second moment, the GNSS dual-line device 200 can acquire position information from both the first and second positions on the tower arm. That is, the third position information refers to the position information from the first position acquired at the second moment, and the fourth position information refers to the position information from the second position acquired at the second moment. For example, please refer to... Figure 7 During the rotation of the tower arm 12 around the tower body 11 (represented by T in the diagram), the circle represents the rotatable path of the top of the tower arm 12. The GNSS dual-line device 200 uses RTK to measure the position information of points A and B at a certain moment, that is... Figure 7The position information of A1 and B1 is used to measure the position information of A and B at another time, that is, Figure 7 Location information for A2 and B2.

[0101] S602: The rotation angle of the tower arm 12 is obtained based on the first position information, the second position information, the third position information, and the fourth position information;

[0102] The rotation angle of the tower jib 12 refers to the angle formed by the tower jib 12 at one moment and the tower jib 12 at another moment during the rotation of the tower crane 1. During the rotation and movement of the tower crane 1, the control terminal 100 can calculate the real-time pitch angle of the tower jib 12 based on the different position information of the tower jib 12 at different times. For example, please refer to [further details omitted]. Figure 7 Based on the position information of A1 and B1 and the position information of A2 and B2, the real-time rotation angle β of the tower arm 12 during the entire rotational movement process is obtained.

[0103] S603: Obtain the spatial position information of the hook 14 based on the length and rotation angle of the tower arm 12, so as to control the state of the tower crane 1 based on the spatial position information of the hook 14.

[0104] When tower crane 1 rotates, control terminal 100 can obtain the real-time spatial position information of hook 14 during the rotation process based on the known length of tower arm 12 and real-time rotation angle, combined with geometric formulas such as the Pythagorean theorem. Control terminal 100 uses the real-time spatial position information of hook 14 as the basis for controlling tower crane 1, thereby controlling the state of tower crane 1.

[0105] Understandably, at two moments during the rotational movement of the tower boom 12, by installing a position information acquisition device on the tower boom 12 that can simultaneously acquire position information at two different positions on the tower boom 12, such as a GNSS dual-line device 200, the control terminal 100 can calculate the real-time rotation angle of the tower boom 12. Using the real-time rotation angle, the real-time spatial position information of the hook 14 can be obtained. Then, the control terminal 100 controls the PLC controller 110 of the tower crane 1 based on the real-time spatial position information. Figure 10 (As shown in the figure) This allows for more precise lifting operations. Compared to manually determining the position of tower crane 1, the control method of this application can largely avoid safety issues caused by collisions between tower crane 1 and obstacles and improve control efficiency.

[0106] Thus, at the second moment, after the control terminal 100 acquires the third position information of the first position and the fourth position information of the second position on the tower arm 12, it then obtains the rotation angle of the tower arm 12 based on the first, second, third, and fourth position information. Finally, it obtains the spatial position information of the hook 14 based on the length of the tower arm 12 and the rotation angle, thereby controlling the state of the tower crane 1 based on the spatial position information of the hook 14. By simultaneously acquiring the position information of two different positions on the tower arm 12 at the first and second moments respectively, the real-time rotation angle of the tower arm 12 is obtained. Using the real-time rotation angle, the real-time spatial position information of the hook 14 can be obtained, enabling more precise lifting operations, improving control efficiency, and reducing safety hazards.

[0107] Please see Figure 8 As an optional implementation, step S602 may further include:

[0108] S801: Obtain the first slope based on the first position information and the second position information;

[0109] During the rotation and movement of tower crane 1, the first inclination is calculated based on the different positions on the tower arm 12 at a given moment. For example, please refer to [link to relevant documentation]. Figure 7 The position information of point A on tower arm 12 at a certain moment is recorded as A1(ga). x1 ,ga y1 ,ga z1 The location information at point B is denoted as B1(gb). x1 ,gb y1 ,gb z1 The coordinates of A1 and B1 in the geocentric reference system are converted to coordinates in the rectangular coordinate system, and then the slope K1 is calculated by combining the vector formula.

[0110] S802: Obtain the second slope based on the third and fourth position information;

[0111] Secondly, the second slope is obtained based on different positions on tower arm 12 at another time. For example, the position information at points A and B at another time is measured, and the position information at point A at that time is recorded as A2(ga). x2 ,ga y2 ,ga z2 The location information at point B is denoted as B2(gb). x2 ,gb y2 ,gb z2 The coordinates of A2 and B2 in the geocentric reference system are converted to coordinates in the rectangular coordinate system, and then the slope K2 is calculated by combining the vector formula.

[0112] S803: The rotation angle of tower arm 12 is obtained based on the first slope and the second slope.

[0113] Finally, the rotation angle β of tower arm 12 is obtained by combining the slopes K1 and K2 with the following formula:

[0114] β=tan -1 [|(K2-K1) / (1+K2K1)|]

[0115] Understandably, at any two moments during the rotation and movement of the tower arm 12, the rotation angle of the tower arm 12 can be obtained based on the longitude, latitude, and elevation of the first and second positions on the tower arm 12 collected by the GNSS dual-line device 200.

[0116] Thus, the first slope can be obtained based on the first and second position information, the second slope can be obtained based on the third and fourth position information, and the rotation angle of the tower arm 12 can be obtained based on the first and second slopes.

[0117] Please see Figure 9 As an optional implementation method, the tower crane control method may further include:

[0118] S901: The spatial position information of the hook 14 is obtained based on the length, rotation angle and pitch angle of the tower arm 12, so as to control the state of the tower crane 1 based on the spatial position information of the hook 14.

[0119] When the tower crane 1 is simultaneously rotating and luffing, the control terminal 100 can obtain the real-time spatial position information of the hook 14 during the movement by combining the known length of the tower arm 12 with the pitch angle and rotation angle and geometric formulas such as the Pythagorean theorem.

[0120] Understandably, without installing too many sensors, the pitch and rotation angles of the tower crane 1 can be calculated simultaneously, thereby obtaining the real-time spatial position information of the hook 14. This allows for precise control of the tower crane 1 to perform corresponding operations, reducing costs, improving control efficiency, and simplifying the control system.

[0121] In this way, the spatial position information of the hook 14 can be obtained based on the length of the tower arm 12, the rotation angle and the pitch angle. The state of the tower crane can be controlled based on the spatial position information of the hook 14. Without installing too many sensors, the pitch angle and rotation angle of the tower crane 1 can be calculated at the same time, so as to obtain the real-time spatial position information of the hook 14. This allows for precise control of the tower crane 1 to perform corresponding operations, reducing costs, improving control efficiency and simplifying the control system.

[0122] Please see Figure 10 , Figure 10This is a schematic diagram of the system block diagram of the tower crane control system 1000 according to an embodiment of this application. This application also provides a tower crane control system 1000, which includes a control terminal 100, a GNSS dual-line device 200, and a tower crane PLC controller 110. The GNSS dual-line device 200 is installed on the tower arm 12. The first antenna 220 and the second antenna of the GNSS dual-line device 200 are respectively installed at a first position and a second position on the tower arm 12, used to collect first position information and second position information, and send the position information to the control terminal 100. The control terminal 100 can implement all or part of the tower crane control methods of this application, that is, using the position information to calculate the real-time pitch angle and real-time rotation angle, and then calculate the real-time spatial position information of the hook 14, and generate control commands based on the real-time spatial position information of the hook 14 and send them to the tower crane PLC controller 110 to precisely control the state of the tower crane 1.

[0123] In this way, the control terminal 100 uses the GNSS dual-line device 200 to calculate the real-time pitch angle and real-time rotation angle, and can calculate the real-time spatial position information of the hook 14 to accurately control the state of the tower crane 1. This allows the tower crane operator to achieve remote and precise control of the tower crane 1, reducing safety hazards. The control terminal 100 can be independently connected to the tower crane control system 1000 to realize intelligent applications and has system expansion capabilities.

[0124] As an optional implementation, the tower crane control system 1000 also includes signal conversion modules 310A and 310B, and communication terminals 320A and 320B. (Hereinafter, signal conversion module 310 can refer to signal conversion module 310A or 310B, and communication terminal 320 can refer to communication terminal 320A or signal conversion module 310B). Signal conversion module 310 may include a module consisting of a Controller Area Network (CAN) to I / O submodule and an Ethernet to CAN submodule. Communication terminal 320A or 320B may be a wireless bridge module or a router (Customer Premise(s) Equipment, CPE) using 5G technology, i.e., 5G CPE, etc. The control terminal 100 connects to various controlled devices via a signal conversion module 310 and / or a communication terminal 320. These controlled devices include the PLC controller 110 in the tower crane 1's overhead cab, an industrial computer 700, a control console 400, and a facial recognition terminal 900. This allows the control terminal 100 to independently interface with the tower crane control system 1000, enabling intelligent applications and providing system expansion capabilities.

[0125] The tower crane control system 1000 also includes a control console 400, which is installed in the ground cabin. The control console 400 sends analog signals, which are transmitted to the control terminal 100 in the air cabin through a signal conversion module and a communication terminal. After receiving the analog signals, the control terminal 100 generates corresponding control commands to control the PLC controller 110 to move the tower crane 1.

[0126] In one example, the control console 400 can be installed in the ground cockpit. Specifically, the control console 400 integrates control devices such as handles, buttons, and switches, simulating the control panel of the actual tower crane 1's aerial cockpit one-to-one. The tower crane operator can control the status of the tower crane 1 through the control console in the ground cockpit. For example, when the tower crane operator moves the handle on the control console 400 in the ground cockpit, the control console 400 sends an analog signal corresponding to the operation. The analog signal is sent to the control terminal 100 in the aerial cockpit through the signal conversion module 310 and the communication terminal 320. After receiving the analog signal, the control terminal 100 generates a corresponding control command, controlling the PLC controller 110 to move the tower crane 1 according to the direction of the handle movement. The control terminal 100 is connected in parallel with the handle switch signal in the aerial cockpit to control the PLC controller 110 in the aerial cockpit of the tower crane 1. By non-destructively modifying the PLC controller 110 in the tower crane 1, the control console 400 in the ground cockpit can be adapted to different models of tower crane 1.

[0127] Understandably, installing the control console 400 in a ground-based cockpit, simulating the control panel of the actual aerial cockpit of tower crane 1 one-to-one, and controlling the movement of tower crane 1 via the PLC controller 110 by sending simulated signals to the control terminal 100, allows the tower crane operator to remotely and precisely control tower crane 1 from the ground without needing to enter the aerial cockpit, reducing safety hazards. The ground-based cockpit simulates all operating commands of tower crane 1, enabling real-time remote control of the aerial tower crane 1 through a high-speed, low-latency communication terminal 320. This solves the problem of relocating the tower crane 1 control room, allowing the tower crane operator to control tower crane 1 without geographical limitations, and making it possible for a single ground-based cockpit to switch between controlling different tower cranes. The control terminal 100 independently interfaces with the tower crane control system 1000 to achieve intelligent applications and possess system expansion capabilities.

[0128] Thus, the control terminal 100 uses the GNSS dual-line device 200 to obtain the real-time pitch angle and real-time rotation angle, and can calculate the real-time spatial position information of the hook 14 to accurately control the state of the tower crane 1. The control console 400 is installed in the ground cabin and simulates the control panel of the real tower crane 1's aerial operator's cabin one-to-one. By sending analog signals to the control terminal, it controls the PLC controller to control the movement of the tower crane 1, enabling the tower crane operator to remotely and accurately control the tower crane 1 from the ground, reducing safety hazards. The control terminal 100 independently interfaces with the tower crane control system 1000 to realize intelligent applications and has system expansion capabilities.

[0129] As an optional implementation, the tower crane control system 1000 also includes a visualization device, which comprises a video acquisition terminal 510, a decoder 520, a video stitching and processing terminal 530, and a video display terminal 540. The video acquisition terminal 510 captures images of the target operating area to form video data, transmits the images to the decoder 520 for decoding, and the decoder 520 transmits the decoded data to the video stitching and processing terminal 530. The video stitching and processing terminal 530 stitches the data together, reconstructs the image, and sends the video to the video display terminal 540. The video display terminal 540, combined with low-latency real-time playback technology or cloud-based real-time playback technology, displays the video image formed by the video data. The video acquisition terminal 510 includes multiple cameras, and the video display terminal 540 includes multiple display terminals, such as a display screen. The target operating area includes the hook 14 operating area, the target object placement area, and blind spots; that is, the target operating area can be set by the developers. For example, after multiple cameras capture images of area 14 of the hook, the resulting video data is transmitted to a display terminal in the ground cockpit using low-latency real-time playback technology. This allows the tower crane operator in the ground cockpit to view the operating area of ​​hook 14, providing operational guidance. Simultaneously, the video data can also be transmitted to the display screen in the aerial cockpit via cloud-based real-time playback technology, providing operational guidance for the tower crane operator in the aerial cockpit. Furthermore, the video data can be transmitted to a display terminal in the monitoring room via cloud-based real-time playback technology, providing monitoring guidance for the monitoring personnel in the monitoring room. Data transmission can be achieved via a communication terminal 320.

[0130] The video acquisition terminal 510 can also send the acquired video data of the target area to the control terminal 100. The control terminal 100 remotely controls the status of the tower crane 1 based on the target data and the obtained spatial position information of the hook 14.

[0131] Understandably, the control terminal 100 is connected to the visualization device and, combined with low-latency real-time playback technology, can provide the tower crane operator in the ground cab with video of the target area, providing the tower crane operator or other personnel in the ground cab with the basis for operation or to fill in blind spots, thereby realizing remote and precise control of the tower crane 1.

[0132] In this way, the control terminal is connected to the visualization device, and combined with low-latency real-time playback technology, it can provide users with the basis for operation or fill in visual blind spots, thereby realizing remote and precise control of tower crane 1.

[0133] As an optional implementation, the tower crane control system 1000 further includes a sensing device 600, which may include a tower body 11 tilt sensor, a tower boom 12 tilt sensor, and / or a hook 14 positioning terminal. The sensing device 600 is signal-connected to the control terminal 100. The tower body 11 tilt sensor can be installed on the tower body 11 to collect the tilt angle of the tower body 11 and send it to the control terminal 100. The control terminal 100 remotely controls the status of the tower crane 1 based on the tilt angle of the tower body 11 and the spatial position information of the hook 14. The control terminal 100 can also compare the tilt angle of the tower body 11 with a preset safe tilt angle threshold. When the tilt angle of the tower body 11 exceeds the safe tilt angle threshold, a warning is issued, indicating a safety hazard.

[0134] A tower boom tilt sensor is installed on tower boom 12, which can collect the tilt angle of tower boom 12 and send it to the control terminal 100. When acquiring the pitch angle obtained by the GNSS dual-line device 200 via RTK, if the calculated pitch angle is between 60° and 85°, the calculated pitch angle can be corrected by the pitch angle of tower boom 12 collected by the tower boom tilt sensor. That is, the calculated pitch angle is corrected by the compensated pitch angle collected by the tower boom tilt sensor to improve the accuracy of the pitch angle. Similarly, the control terminal 100 can also compare the tilt angle of tower boom 12 with a preset safe tilt angle threshold. When the tilt angle of tower boom 12 exceeds the safe tilt angle threshold, a warning is issued, indicating a safety hazard.

[0135] When the hook 14 can move on the tower arm 12, the hook positioning terminal is installed on the hook 14 and can collect the positioning information of the hook 14.

[0136] Understandably, based on the pitch and rotation angles of the tower boom 12 obtained by the GNSS dual-line device 200 via RTK and various data collected by the sensor device 600, the working range of the tower crane 1 can be mapped to achieve the collision avoidance function of the tower boom 12. The control terminal 100 is connected to the low-latency visualization device and the sensor device 600, providing the tower crane operator or other personnel in the ground cab with the basis for operation, thereby realizing remote and precise control of the tower crane 1.

[0137] Thus, based on the pitch and rotation angles of the tower boom 12 obtained by the GNSS dual-line equipment via RTK, combined with various data collected by the sensors, the working range of the tower crane 1 can be mapped to achieve the collision avoidance function of the tower boom 12. The control terminal, combined with the low-latency visualization device and sensor signal connection, can provide the tower crane operator or other personnel in the ground cab with the basis for operation, thereby realizing remote and precise control of the tower crane 1.

[0138] As an optional implementation, the tower crane control system 1000 also includes an industrial computer 700, with a signal connection between the industrial computer 700 and the control terminal 100. After the user starts the tower crane control system 1000, the control terminal 100 obtains the lifting point confirmed by the user, and the industrial computer 700 sends control permissions for the tower crane 1 at the lifting point to the control terminal 100, enabling the tower crane operator to control the tower crane 1 at the lifting point through the control terminal 100. The tower crane control system 1000 also includes a model display terminal 800 signal-connected to the industrial computer 700. After receiving the control command for controlling the tower crane 1 sent by the control terminal 100, the industrial computer 700 generates a tower crane model according to the control command and displays the tower crane model on the model display terminal 800 signal-connected to the industrial computer 700. The user can be a tower crane operator, signalman, etc.

[0139] Understandably, the industrial control computer 700 sends control permissions for tower crane 1 to the control terminal 100, enabling the control terminal 100 to control the corresponding tower crane 1, thereby achieving control of different tower cranes 1 from a single ground control unit. The tower crane model is also displayed on the model display terminal 800, which is connected to the industrial control computer 700, thus vividly demonstrating the real-time status of tower crane 1.

[0140] In this way, the industrial control computer sends control permissions for tower crane 1 to the control terminal, enabling the control terminal to control the corresponding tower crane 1, thus realizing the control of different tower cranes 1 from a single ground control unit. The tower crane model is also displayed on a model display terminal connected to the industrial control computer, thus vividly showing the real-time status of tower crane 1.

[0141] As an optional implementation, the tower crane control system 1000 also includes a face recognition terminal 900, which is signal-connected to the industrial control computer 700. The face recognition terminal 900 can compare a user's facial image with pre-stored image information. If the similarity falls within a preset range, it can determine that the user has operating privileges and generate a confirmation signal to the industrial control computer 700, thus activating the industrial control computer 700. The face recognition terminal 900 can periodically recognize the user's face throughout the hoisting operation. When the similarity between the user's facial image and pre-stored image information does not fall within a preset range, it can send a prohibition signal to the industrial control computer 700, which can then pause operation or shut down the system.

[0142] Understandably, the facial recognition terminal 900 enables remote operation authorization for the tower crane 1. During operation, the face is dynamically recognized, avoiding the need for personnel changes midway and ensuring consistency between the operator and the machine.

[0143] In this way, the remote operation of tower crane 1 can be authorized through the facial recognition terminal. During the operation, the face is dynamically recognized, avoiding the need to change personnel midway and ensuring the consistency between human and machine.

[0144] Please see Figure 11 The following example of a hoisting operation illustrates the steps involved in the interaction between the face recognition terminal 900 and the industrial computer 700 in the tower crane control system 1000 of this application:

[0145] In response to the user's initiation of facial recognition, the facial recognition terminal 900 determines that the user has operating authority and sends a confirmation signal to activate the industrial control computer 700. The industrial control computer 700 sends a start signal to the visualization device, communication terminal 320, and the PCL controller in tower crane 1 to ensure that the visualization device is connected, the communication link self-check is complete, and the tower crane 1's status self-check is complete. Next, in response to the signalman determining a lifting point through the control terminal 100, the industrial control computer 700 sends control authority for tower crane 1 at that lifting point to the control terminal 100, enabling the tower crane operator to remotely control tower crane 1 at the lifting point through the control terminal 100. For example, the tower crane operator can operate from the control console in the ground cab, controlling the boom to perform luffing and / or rotational movements, and controlling the hook 14 to move up and down. Once the hook 14 of tower crane 1 moves to the lifting point, the hook operator hooks the object onto the hook 14. In response to the signalman's confirmation of the unloading point, the control terminal 100 remotely controls the tower crane 1 to move to the unloading point, where the unloading personnel unload the object.

[0146] Please see Figure 12 The following example illustrates the steps by which the control terminal 100 performs a security mechanism check on the control system 1000.

[0147] In response to the activation of the tower crane control system 1000, the control terminal 100 detects the system's communication status. If redundant communication switching has not been performed, the control terminal 100 stops working. If redundant communication switching has been performed, further logical checks of the control commands are performed. If the control commands do not comply with the safety mechanism, a warning is issued. If the control commands comply with the safety mechanism, overload detection is performed. If the weight of the object on the hook 14 exceeds the warning level, a warning is issued. Otherwise, the sensor data collected by the sensor device 600 is further checked. If the sensor data does not comply with the corresponding safety range, a warning is issued. If it does comply, the distance between the tower crane 1 and the electronic fence is further checked. If this distance does not comply with the safety distance, work stops. If it complies with the safety distance, the distance between the tower arm 12 and surrounding obstacles is further checked. If it complies with the safety range, the safety mechanism check is completed. If it does not comply with the safety range, work stops.

[0148] Please see Figure 13 The diagram shown is a structural schematic of a control terminal 100 provided in an embodiment of this application. In one embodiment, the control terminal 100 includes a memory 101 and at least one processor 102. Those skilled in the art should understand that... Figure 11 The structure of the control terminal 100 shown does not constitute a limitation of the embodiments of this application. The control terminal 100 may also include more or fewer other hardware or software than shown, or different component arrangements.

[0149] As an optional implementation, the control terminal 100 includes a terminal capable of automatically performing numerical calculations and / or information processing according to pre-set or stored instructions. Its hardware includes, but is not limited to, microprocessors, application-specific integrated circuits (ASICs), programmable gate arrays (PGAs), digital processors, and embedded devices. As an optional implementation, the memory 101 is used to store program code and various data. The memory 101 may include read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium capable of carrying or storing data.

[0150] As an optional implementation, the at least one processor 102 may include an integrated circuit, such as a single-packaged integrated circuit or multiple integrated circuits with the same or different functions, including combinations of microprocessors, digital processing chips, graphics processors, and various control chips. The at least one processor 102 is the control unit of the controller, executing various functions of the control terminal 100 and processing data by running or executing programs or modules stored in the memory 101 and calling data stored in the memory 101. The integrated unit implemented as a software functional module can be stored in a computer-readable storage medium. The software functional module stored in the storage medium includes several instructions to cause a computer device (which may be a personal computer, terminal, or network device, etc.) or processor to execute portions of the methods described in the various embodiments of this application. The memory 101 stores program code, and the at least one processor 102 can call the program code stored in the memory 101 to execute related functions. In one embodiment of this application, the memory 101 stores multiple instructions, which are executed by the at least one processor 102 to implement the tower crane control method described above. Specifically, the implementation method of the above instructions by the at least one processor 102 can be referred to Figure 3 , Figure 5 , Figure 6 , Figure 8 and Figure 9 The descriptions of the relevant steps in the corresponding implementation methods will not be repeated here.

[0151] This application also provides a storage medium. The storage medium stores computer instructions, which, when executed on a computing device, enable the computing device to perform the crane control method provided in the foregoing embodiments.

[0152] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative; for example, the division of units is merely a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs. Furthermore, the functional units in the various embodiments of this application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. Note that the above are merely preferred embodiments and the technical principles used in this application. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present application has been described in detail through the above embodiments, the present invention is not limited to the above embodiments. Many other equivalent embodiments may be included without departing from the concept of the present invention, all of which fall within the scope of protection of the present invention.

Claims

1. A tower crane control method, wherein the tower crane includes a jib and a hook, characterized in that, The method includes: At the first moment, acquire the first position information of the first position and the second position information of the second position on the tower arm; The pitch angle of the tower arm is obtained based on the first position information and the second position information; The spatial position information of the hook is obtained based on the length of the tower arm and the pitch angle, so as to control the state of the tower crane according to the spatial position information of the hook; The step of obtaining the first position information of the first position and the second position information of the second position on the tower arm at the first moment further includes: At the second moment, the third position information of the first position and the fourth position information of the second position on the tower arm are obtained; The rotation angle of the tower arm is obtained based on the first position information, the second position information, the third position information, and the fourth position information; The spatial position information of the hook is obtained based on the length of the tower arm, the pitch angle, and the rotation angle.

2. The tower crane control method according to claim 1, characterized in that, The step of obtaining the pitch angle of the tower arm based on the first position information and the second position information includes: The distance between the first location and the second location is obtained based on the longitude and latitude of the first location information and the longitude and latitude of the second location information; The elevation difference between the first location and the second location is obtained based on the elevation of the first location information and the elevation of the second location information; The pitch angle of the tower arm is obtained based on the distance and the elevation difference.

3. The tower crane control method according to claim 2, characterized in that, The step of obtaining the rotation angle of the tower arm based on the first position information, the second position information, the third position information, and the fourth position information includes: The first slope is obtained based on the first position information and the second position information; The second slope is obtained based on the third and fourth position information; The rotation angle of the tower arm is obtained based on the first slope and the second slope.

4. A tower crane control system for controlling a tower crane, the tower crane comprising a jib and a hook, characterized in that, The tower crane control system includes: a control terminal, The control terminal is used for: At the first moment, acquire the first position information of the first position and the second position information of the second position on the tower arm; The pitch angle of the tower arm is obtained based on the first position information and the second position information; The spatial position information of the hook is obtained based on the length of the tower arm and the pitch angle, so as to control the state of the tower crane according to the spatial position information of the hook; The control terminal is also used to acquire, at a second moment, the third position information of the first position and the fourth position information of the second position on the tower arm; The rotation angle of the tower arm is obtained based on the first position information, the second position information, the third position information, and the fourth position information; The spatial position information of the hook is obtained based on the length of the tower arm, the pitch angle, and the rotation angle.

5. The tower crane control system according to claim 4, characterized in that, The tower crane control system also includes a programmable logic controller. The programmable logic controller is used to receive control commands generated by the control terminal based on the spatial position information of the hook, and to control the state of the tower crane according to the control commands.

6. The tower crane control system according to claim 4, characterized in that, The control terminal is also used to obtain the distance between the first location and the second location based on the longitude and latitude of the first location information and the longitude and latitude of the second location information; The elevation difference between the first location and the second location is obtained based on the elevation of the first location information and the elevation of the second location information; The pitch angle of the tower arm is obtained based on the distance and the elevation difference.

7. The tower crane control system according to claim 4, characterized in that, The tower crane control system also includes a position information acquisition device. The location information acquisition device is used to acquire the first location information and the third location information of the first location on the tower arm, and the second location information and the fourth location information of the second location.

8. The tower crane control system according to claim 7, characterized in that, The control terminal is also used to obtain a first slope based on the first position information and the second position information; The second slope is obtained based on the third and fourth position information; The rotation angle of the tower arm is obtained based on the first slope and the second slope.

9. A control terminal, characterized in that, The control terminal includes a processor and a memory, the memory storing a computer program, which, when executed by the processor, implements the tower crane control method according to any one of claims 1-3.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the tower crane control method as described in any one of claims 1-3.

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