A tower crane automatic control method, system, device and readable storage medium

Abstract

The application relates to a tower crane automatic control method, system, equipment and readable storage medium, the method comprises the following steps: acquiring a three-dimensional model of a construction site and construction period plan information, the construction period plan information comprises material names of materials required for construction, use time, use quantity and use sequence of the required materials; acquiring the position of the tower crane according to the three-dimensional model, and establishing a three-dimensional coordinate system; generating a target operation plan of the tower crane according to the construction period plan information and a preset tower crane operation model; and outputting a starting instruction in the three-dimensional coordinate system according to the operation plan and the three-dimensional model. The application has the effect of improving the working efficiency of the tower crane.

Description

Technical Field

[0001] This application relates to the field of automatic control technology, and in particular to an automatic control method, system, device and readable storage medium for tower cranes. Background Technology

[0002] In modern construction, tower cranes are the most common and indispensable vertical lifting equipment. Before construction begins, the installation location of the tower crane is designed on the construction site plan. After the tower crane is installed, the distance and position between its tower and the building are basically fixed. In addition to the coordinates of the building to be built, the construction site plan also shows other buildings, temporary facilities, high-voltage lines, and other nearby tower cranes.

[0003] Some problems have also been exposed during the use of tower cranes. On the one hand, due to the complex environment and numerous obstructions on the construction site, the operator's view is often blocked during operation. On the other hand, when using tower cranes on a construction site, two commanders are usually assigned to monitor the lifting, lowering, and positioning of the hook, and to notify the operator to perform the corresponding operations via walkie-talkie, which wastes manpower and is inefficient.

[0004] The existing technical solutions mentioned above have the following drawbacks: the working efficiency of tower cranes is based on subjective judgment by personnel through operating experience, resulting in low working efficiency of tower cranes. Summary of the Invention

[0005] To address the issue of low operating efficiency of tower cranes, this application provides an automatic control method, system, device, and readable storage medium for tower cranes.

[0006] In a first aspect of this application, an automatic control method for a tower crane is provided. The method includes: Obtain a three-dimensional model of the construction site and a construction schedule information, wherein the construction schedule information includes the material name, usage time, quantity, and usage order of the materials required for construction. Based on the three-dimensional model, the position of the tower crane is obtained, and a three-dimensional coordinate system is established; Based on the aforementioned construction schedule information and the preset tower crane working model, a target operation plan for the tower crane is generated; In the three-dimensional coordinate system, a start command is output based on the work plan and the three-dimensional model.

[0007] As can be seen from the above technical solutions, by modeling the construction site and establishing a coordinate system, and then generating a target operation plan based on the construction schedule information and the tower crane working model, and outputting a start command based on the target operation plan and the three-dimensional model, the tower crane can be controlled to transport construction materials, which improves the working efficiency of the tower crane to a certain extent.

[0008] In one possible implementation, obtaining the position of the tower crane and establishing a three-dimensional coordinate system based on the three-dimensional model includes: A three-dimensional coordinate system is established by taking the highest point of the tower crane in the three-dimensional model as the origin.

[0009] In one possible implementation, generating the target operation plan for the tower crane based on the project schedule information and a preset tower crane working model includes: Based on the tower crane's working parameter comparison table, the usage time, and the usage quantity, calculate the latest start time corresponding to each of the material names; Sort the material names in ascending order according to the latest start time, and generate a time-based work plan; Based on the material adjustment model, the time-based work plan is adjusted according to the usage sequence to generate the target work plan.

[0010] In one possible implementation, the step of adjusting the time-based work plan according to the usage sequence based on the material adjustment model to generate a target work plan includes: Determine sequentially whether the usage order of two adjacent material names in the time-based work plan is consistent; If not, then swap the positions of the two material names and determine the intermediate work plan; When the order of material names in the intermediate work plan matches the corresponding order of use, the intermediate work plan is the target work plan.

[0011] In one possible implementation, calculating the latest start time for each material name based on the tower crane's operating parameter lookup table, the usage time, and the usage quantity includes: The working parameter comparison table includes the name of the comparison material, the average lifting weight, and the time taken per lift. Each name of the comparison material corresponds to a set of average lifting weight and time taken per lift. The latest start time = the usage time - (the number of uses / the average lifting weight + 1) * the time used per lifting.

[0012] In one possible implementation, the method further includes: When there are multiple tower cranes at the construction site, based on preset collision determination rules, the probability of collision for each tower crane is determined in turn, and a collision mark is made for each tower crane; each tower crane includes a tower crane identifier, and there is a corresponding relationship between the tower crane identifier and the collision mark; Obtain the coordinates of the first endpoint of the tower crane corresponding to the tower crane identifier and the coordinates of the second endpoint of the tower crane corresponding to the collision mark of the tower crane identifier; Calculate the distance between the coordinates of the first endpoint and the coordinates of the second endpoint. When the distance is less than a preset distance value, adjust the rotation direction of the tower crane according to the steering adjustment rules.

[0013] In one possible implementation, both the first endpoint coordinates and the second endpoint coordinates include the endpoint coordinates of the tower crane boom away from the counterweight boom and the endpoint coordinates of the tower crane counterweight boom away from the boom.

[0014] In a second aspect of this application, an automatic control system for tower cranes is provided. The system includes: The data acquisition module is used to acquire a three-dimensional model of the construction site and the construction schedule information. The construction schedule information includes the material name, usage time, usage quantity, and usage order of the materials required for construction. The coordinate system establishment module is used to obtain the position of the tower crane and establish a three-dimensional coordinate system based on the three-dimensional model. The plan generation module is used to generate a target operation plan for the tower crane based on the construction schedule information and the preset tower crane working model; The planning and initiation module is used to output a start command in the three-dimensional coordinate system based on the work plan and the three-dimensional model.

[0015] In a third aspect of this application, an electronic device is provided. The electronic device includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the program to implement the method described above.

[0016] In a fourth aspect of this application, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the method according to the first aspect of this application.

[0017] In summary, this application includes at least one of the following beneficial technical effects: By creating a 3D model of the construction site and establishing a coordinate system, and then generating a target operation plan based on the construction schedule information and the tower crane working model, the tower crane can be controlled to transport construction materials according to the target operation plan, the 3D model, and the 3D coordinate system, thereby improving the tower crane's working efficiency to a certain extent. Attached Figure Description

[0018] Figure 1 This is a flowchart illustrating the automatic control method for tower cranes provided in this application.

[0019] Figure 2 This is a structural schematic diagram of the tower crane automatic control system provided in this application.

[0020] Figure 3 This is a schematic diagram of the structure of the electronic device provided in this application.

[0021] In the diagram, 200 is the tower crane automatic control system; 201 is the data acquisition module; 202 is the coordinate system establishment module; 203 is the plan generation module; 204 is the plan start module; 301 is the CPU; 302 is the ROM; 303 is the RAM; 304 is the I / O interface; 305 is the input section; 306 is the output section; 307 is the storage section; 308 is the communication section; 309 is the driver; and 310 is the removable medium. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article, unless otherwise specified, generally indicates that the preceding and following related objects have an "or" relationship.

[0024] The embodiments of this application will now be described in further detail with reference to the accompanying drawings.

[0025] This application provides an automatic control method for tower cranes, and the main process of the method is described below.

[0026] like Figure 1 As shown: Step S101: Obtain the three-dimensional model of the construction site and the construction schedule information.

[0027] Specifically, the construction schedule information includes the material names, usage times, quantities, and usage order of the materials required for construction. The material names refer to the names of the materials needed for construction, such as wall reinforcement, beam and slab reinforcement, formwork, timber, and steel pipes. The usage times refer to the latest time when the materials corresponding to the above material names are needed. The quantities refer to the amount of materials used in a specific construction cycle. The unit of quantity varies depending on the material; for example, the unit for wall and beam / slab reinforcement is tons, the unit for formwork is square meters, the unit for timber is cubic meters, and the unit for steel pipes is meters. The usage order refers to the order in which the construction materials are used. The usage order varies in different construction scenarios. In this embodiment, a numerical identifier is used to represent the usage order. Materials with a usage order of 1 have the highest priority; that is, materials with a usage order of 1 must be moved before other materials can be moved. The material names represent the material names within a specific construction cycle. The construction cycle is determined based on actual construction needs and can be 1 day or 15 days. For example, if the construction period is one day, the material used on the first day is called steel pipe 1, and the material used on the second day is called steel pipe 2. Although both materials are steel pipes, it's understandable that the second day's construction can only begin after the first day's work is completed. Therefore, the order in which steel pipe 2 is used is always less than that of steel pipe 1. The same principle applies to other materials, and the same logic applies to different materials. If two different materials need to be used together, then the order in which they are used is the same.

[0028] In this embodiment, the aforementioned 3D model can be obtained by scanning the construction site using a 3D laser scanner. It is understood that the construction site includes not only tower cranes but also various construction materials; that is, the locations of various construction materials can be obtained from the 3D model. Once the 3D model is completed, the target locations where each material needs to be transported can be manually marked, indicating where the construction materials need to be moved. In other embodiments, other methods can be used to construct the 3D model of the construction site.

[0029] In one embodiment, a laser scanning device is added to the tower crane trolley. By rotating the tower crane boom and running the trolley, a three-dimensional laser scan can be performed on the construction site within the coverage area of ​​the tower crane. The scanned content includes major buildings, storage yards, materials, machinery and equipment, scaffolding and other objects related to construction.

[0030] Step S102: Based on the 3D model, obtain the position of the tower crane and establish a 3D coordinate system.

[0031] Specifically, based on the 3D model of the construction site, the location of the tower crane can be identified. Using the highest point of the tower crane as the origin, a 3D coordinate system is established with the tower crane's direction as the z-axis and the counterweight boom's direction as the x-axis. In other implementations, other points and directions can be used to establish the 3D coordinate system.

[0032] Understandably, when there is only one tower crane at the construction site, the above method can be used to establish a three-dimensional coordinate system. When there are multiple tower cranes at the construction site, the shortest distance from each tower crane to the construction site is calculated, and the tower crane corresponding to the maximum value of the above shortest distances is selected as the origin of the coordinate system to establish a three-dimensional coordinate system. It can be understood that the construction site is a region, which can be abstracted as a closed figure, and the tower cranes are multiple points on this closed figure. The above shortest distance is the distance from a point to a line, and the calculation method for the distance from a point to a line is well-known to those skilled in the art and will not be elaborated here.

[0033] When there are multiple tower cranes, using the above method to establish a coordinate system allows other tower cranes to be placed in different quadrants of the coordinate system, making the relative positions between the tower cranes clearer.

[0034] Step S103: Generate the target operation plan for the tower crane based on the project schedule information and the preset tower crane working model.

[0035] Specifically, based on the tower crane's working parameter reference table, usage time, and quantity, the latest start time corresponding to each material name is calculated. The working parameter reference table includes the reference material name, average lifting weight, and time per lift. Each material name corresponds to a set of average lifting weight and time per lift. The reference material names mentioned above refer to the names of materials needed for construction, such as wall reinforcement, beam and slab reinforcement, formwork, timber, and steel pipes. Unlike the material names mentioned above, the reference material names do not include the concept of construction period. The average lifting weight mentioned above refers to how much construction material the tower crane can lift in one go. For example, when the material is wall reinforcement or beam and slab reinforcement, the average lifting weight is 0.7 tons; when the material is formwork, the average lifting weight is 20 square meters; and when the material is timber, the average lifting weight is 2 cubic meters. The time per lift mentioned above refers to the time taken to move the material from the starting position to the target position and back to the starting position. For example, when the material is wall reinforcement or beam / slab reinforcement, the lifting time is 12 minutes per hoist; when the material is formwork, the lifting time is 10 minutes per hoist; and when the material is timber, the lifting time is 10 minutes per hoist. Latest start time = Usage time - (Used quantity / Average lifting weight + 1) * Lifting time per hoist. The above (Used quantity / Average lifting weight) represents rounding down the result and then adding one to the rounded result to ensure the task can be completed. It can be understood that each material name in the project schedule information has a corresponding reference material name in the work parameter lookup table. That is, for each material name, there is a corresponding average lifting weight and lifting time per hoist, and therefore, each material name has a corresponding latest start time. For example, the reference material name for material names "steel pipe 1" and "steel pipe 2" is also "steel pipe." However, due to the different usage times and quantities of steel pipe 1 and steel pipe 2, the calculated latest start times are also different.

[0036] After calculating the latest start time for all material names, the material names are sorted in ascending order based on the latest start time to generate a time-based work plan. In one embodiment, a time-based work plan might be: Template 1, Steel Pipe 1, Template 2, Timber 1, Timber 2, Steel Pipe 2. 1 represents the material needed on the first day, and 2 represents the material needed on the second day. It's understood that the usage order of materials on the first day must precede that of the second day. In this example, the usage order of materials on the same day is set to be the same: the usage order of materials on the first day is 1, and the usage order of materials on the second day is 2. Based on the material adjustment model, the time-based work plan is adjusted according to the usage order to generate a target work plan. The usage order of adjacent material names in the time-based work plan is then checked sequentially. If not, the positions of the two material names are swapped to determine an intermediate work plan. When the order of material names in the intermediate work plan matches their corresponding usage order, the intermediate work plan becomes the target work plan. In the implementation corresponding to the above embodiment, it can be understood that the usage order of template 2 is 2, and the usage order of timber 1 is 1. Therefore, timber 1 should be placed before template 2. However, template 2 is currently placed before timber 1, meaning the usage order of these two material names is inconsistent. Therefore, the positions of the two material names are swapped to obtain an intermediate work plan: template 1, steel pipe 1, timber 1, template 2, timber 2, and steel pipe 2. Further checking whether the usage order of the intermediate work plan is consistent reveals that the material names with usage order 1 are all placed before the material names with usage order 2. The usage order of the intermediate work plan is consistent, so this intermediate plan is the target work plan. Therefore, the target work plan is to transport the materials named template 1, steel pipe 1, timber 1, template 2, timber 2, and steel pipe 2 in that order.

[0037] Step S104: In the three-dimensional coordinate system, output the start command according to the work plan and the three-dimensional model.

[0038] Specifically, based on the 3D model, the initial position of various construction materials and the target position to which they need to be transported, i.e., the polar coordinates of the materials, can be obtained. When the time for construction is reached, a start command is output, and the tower crane receives the start command and begins tower crane work.

[0039] Tower crane automatic control methods also include: When multiple tower cranes exist at the construction site, based on preset collision determination rules, the probability of collision for each tower crane is determined sequentially, and a collision mark is made for each tower crane. Each tower crane includes a tower crane identifier, and there is a corresponding relationship between the tower crane identifier and the collision mark. The tower crane identifier is a unique identifier for each tower crane. The collision mark is a mark made for each tower crane. For a given tower crane, there may be no collision mark, or there may be one or more collision marks.

[0040] For example, taking a single tower crane as a base, the distances between the coordinates of that tower crane's body and the coordinates of all other tower cranes are calculated. When the distance is less than or equal to a preset marking distance value, a collision marker is created for the tower crane corresponding to that distance. These collision markers correspond to the tower crane's identifier. This process is repeated for each tower crane to complete the marking process. The preset marking distance value can be a fixed value set manually as needed, or it can be any other value. In this embodiment, the preset marking distance value is the sum of the boom lengths of the two tower cranes.

[0041] Obtain the coordinates of the first endpoint of the tower crane corresponding to the tower crane identifier and the coordinates of the second endpoint of the tower crane corresponding to the collision marker. The first endpoint coordinates include the first coordinate of the tower crane boom away from the counterweight boom and the second coordinate of the tower crane counterweight boom away from the boom. The second endpoint coordinates include the same content as the first endpoint coordinates, both including two endpoint coordinates. These two coordinates of the second endpoint are designated as the third and fourth coordinates. Calculate the distance between the first and second endpoint coordinates. When the distance is less than a preset value, adjust the rotation direction of the tower crane according to the steering adjustment rules. The distance between the first and second endpoint coordinates includes the distance between the first and third coordinates, the distance between the first and fourth coordinates, the distance between the second and third coordinates, and the distance between the second and fourth coordinates. When any of these distances is less than the preset value, it indicates that the two tower cranes may collide. Control one of the tower cranes to rotate in the opposite direction to avoid the collision. That is, when a potential collision is detected while a tower crane is rotating clockwise, control that tower crane to rotate counterclockwise to avoid the collision.

[0042] In another implementation, when a potential collision between two tower cranes is detected, the number of collision markers corresponding to the tower crane identifiers of the two tower cranes is obtained, and the tower crane with fewer collision markers is selected to change direction. If the number of collision markers is the same, then any one of the tower cranes is selected to change direction.

[0043] The automatic control method for tower cranes also includes methods for adjusting the target work plan based on the target work plan and actual working time. If the latest start time of the first material in the above target work plan is later than the target work time, then the latest start time will be brought forward to the target work time. The latest start times of other materials in the target work plan will also be brought forward accordingly. If the latest start time of the first material in the above target work plan is earlier than the target work time, a prompt message will be output to ask the staff whether to start work at the latest start time. If the staff selects "yes," the target work plan will proceed as scheduled. If the staff selects "no," then the latest start time will be postponed to the target work time. The latest start times of other materials in the target work plan will also be postponed accordingly. For example, if the target work time is 8:00 AM, and the latest start time for template 1 is 9:00 AM, then the start time for template 1 will be brought forward to 8:00 AM. After the template 1 material is moved, the steel pipe 1, timber 1, template 2, timber 2, and steel pipe 2 will be moved in sequence. The postponement of start times follows the same procedure and will not be elaborated here.

[0044] This application provides an automatic control system 200 for a tower crane, referring to... Figure 2 The tower crane automatic control system 200 includes: The data acquisition module 201 is used to acquire a three-dimensional model of the construction site and construction schedule information. The construction schedule information includes the material name, usage time, usage quantity, and usage order of the materials required for construction. The coordinate system establishment module 202 is used to obtain the position of the tower crane based on the three-dimensional model and establish a three-dimensional coordinate system. The plan generation module 203 is used to generate a target operation plan for the tower crane based on the construction schedule information and the preset tower crane working model; The planning and initiation module 204 is used to output a start command in the three-dimensional coordinate system according to the work plan and the three-dimensional model.

[0045] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the described module can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0046] This application discloses an electronic device. (Refer to...) Figure 3 The electronic device includes a central processing unit (CPU) 301, which can perform various appropriate actions and processes based on a program stored in a read-only memory (ROM) 302 or a program loaded from a storage section 307 into a random access memory (RAM) 303. The RAM 303 also stores various programs and data required for system operation. The CPU 301, ROM 302, and RAM 303 are interconnected via a bus. An input / output (I / O) interface 304 is also connected to the bus.

[0047] The following components are connected to I / O interface 304: an input section 305 including a keyboard, mouse, etc.; an output section 306 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 307 including a hard disk, etc.; and a communication section 308 including a network interface card such as a LAN card, modem, etc. The communication section 308 performs communication processing via a network such as the Internet. A drive 309 is also connected to I / O interface 304 as needed. A removable medium 310, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 309 as needed so that computer programs read from it can be installed into storage section 307 as needed.

[0048] Specifically, according to embodiments of this application, the flowchart above refers to... Figure 1 The described process can be implemented as a computer software program. For example, embodiments of this application include a computer program product comprising a computer program carried on a machine-readable medium, the computer program containing program code for performing the methods shown in the flowchart. In such embodiments, the computer program can be downloaded and installed from a network via communication section 308, and / or installed from removable medium 310. When the computer program is executed by central processing unit (CPU) 301, it performs the functions defined in the apparatus of this application.

[0049] It should be noted that the computer-readable medium shown in this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0050] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the foregoing application concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions claimed in this application.

Claims

1. An automatic control method for tower cranes, characterized in that, include: Obtain a three-dimensional model of the construction site and a construction schedule information, wherein the construction schedule information includes the material name, usage time, quantity, and usage order of the materials required for construction. Based on the three-dimensional model, the position of the tower crane is obtained, and a three-dimensional coordinate system is established; Based on the tower crane's working parameter comparison table, the usage time, and the usage quantity, calculate the latest start time corresponding to each of the material names; Sort the material names in ascending order according to the latest start time, and generate a time-based work plan; Determine sequentially whether the usage order of two adjacent material names in the time-based work plan is consistent; If not, then swap the positions of the two material names to determine the intermediate work plan; When the order of material names in the intermediate work plan matches the corresponding order of use, the intermediate work plan is the target work plan; In the three-dimensional coordinate system, a start command is output based on the work plan and the three-dimensional model; When there are multiple tower cranes at the construction site, based on preset collision determination rules, the probability of collision for each tower crane is determined in turn, and a collision mark is made for each tower crane; each tower crane includes a tower crane identifier, and there is a corresponding relationship between the tower crane identifier and the collision mark; Obtain the coordinates of the first endpoint of the tower crane corresponding to the tower crane identifier and the coordinates of the second endpoint of the tower crane corresponding to the collision mark of the tower crane identifier; Calculate the distance between the coordinates of the first endpoint and the coordinates of the second endpoint. When the distance is less than a preset distance value, take the number of collision marks corresponding to the tower crane identifiers of the two tower cranes, and select the tower crane with fewer collision marks to change direction. When the number of collision marks is the same, select any one of the tower cranes to change direction.

2. The tower crane automatic control method according to claim 1, characterized in that, The step of obtaining the position of the tower crane and establishing a three-dimensional coordinate system based on the three-dimensional model includes: A three-dimensional coordinate system is established by taking the highest point of the tower crane in the three-dimensional model as the origin.

3. The automatic control method for tower cranes according to claim 1, characterized in that, Based on the tower crane's working parameter comparison table, the usage time, and the usage quantity, the latest start time corresponding to each material name is calculated, including: The working parameter comparison table includes the name of the comparison material, the average lifting weight, and the time taken per lift. Each name of the comparison material corresponds to a set of average lifting weight and time taken per lift. The latest start time = the usage time - (the number of uses / the average lifting weight + 1) * the time used per lifting.

4. The automatic control method for tower cranes according to claim 1, characterized in that, Both the first endpoint coordinates and the second endpoint coordinates include the endpoint coordinates of the tower crane boom away from the counterweight boom and the endpoint coordinates of the tower crane counterweight boom away from the boom.

5. An automatic control system for tower cranes, characterized in that, The system for performing the method as described in any one of claims 1 to 4, the system comprising: The data acquisition module is used to acquire a three-dimensional model of the construction site and the construction schedule information. The construction schedule information includes the material name, usage time, usage quantity, and usage order of the materials required for construction. The coordinate system establishment module is used to obtain the position of the tower crane and establish a three-dimensional coordinate system based on the three-dimensional model. The plan generation module is used to generate a target operation plan for the tower crane based on the construction schedule information and the preset tower crane working model; The planning and initiation module is used to output a start command in the three-dimensional coordinate system based on the work plan and the three-dimensional model.

6. An electronic device, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The computer program is stored that can be loaded by a processor and executed as described in any one of claims 1 to 4.

Images