Tower crane unmanned driving control system and unmanned driving control method

Abstract

The present invention provides an unmanned control system and method for a tower crane. The control method comprises: obtaining real-time data on the crane's hook's lifting height, the crane's trolley's operating amplitude, and the crane's boom's rotation angle during operation, and calculating the crane's initial posture data; obtaining real-time three-dimensional modeling data of obstacles in the crane's surrounding environment and generating three-dimensional model data of the obstacles based on the three-dimensional modeling data; obtaining spatial position data of the crane's ground hoisting point and destination unloading point; generating a preset operating path and target posture data for the crane; converting the preset operating path and target posture data into path control instructions, and driving the crane's hook to the ground hoisting point or destination unloading point according to the path control instructions. The tower crane system autonomously collects data on the crane's operating status and surrounding environment, and generates a path plan to control the crane's operation, thus resolving the problem of low intelligence in tower crane operation in the prior art.

Description

Technical Field

[0001] The present invention relates to the field of unmanned driving, and in particular to an unmanned driving control system and an unmanned driving control method for a tower crane. Background Art

[0002] Tower cranes are commonly used lifting equipment on construction sites. Currently, tower cranes are operated by the tower operator in cooperation with ground commanders. The tower operator needs to enter the tower crane cab at high altitude to operate. In extreme weather, it is extremely inconvenient for the tower operator to enter and exit the operating room. In addition, the tower crane driver needs to work at high altitude in a harsh working environment. If a tower crane collapses, the tower operator's life safety will be seriously threatened. The safety monitoring system used on the tower crane monitors the working status of the tower crane in real time through a variety of sensors and cameras, assisting the tower operator in safe operations. It also has an anti-collision function, and issues sound and light warnings and alarms when approaching the rated limit, automatically cutting off dangerous tower crane operations. However, it does not solve the high-altitude operation mode of the tower operator, and the existing tower crane safety system still has the following problems:

[0003] 1. Video surveillance in the security monitoring system is easily affected by environmental factors such as weather and lighting, as well as the operating height of the tower crane, resulting in reduced recognition and prone to misoperation;

[0004] 2. The anti-collision function in the existing safety system can only solve the collision problem between tower cranes equipped with the same type of anti-collision equipment. It cannot solve the collision problem between a tower crane equipped with anti-collision equipment and a tower crane equipped with a different type of anti-collision equipment, or between a tower crane equipped with anti-collision equipment and a tower crane not equipped with anti-collision equipment, and it cannot solve the collision problem between a tower crane and surrounding buildings.

[0005] 3. The tower operator needs the cooperation of ground command personnel to know the specific location of the hanging object and whether the lifting path is safe, resulting in low operating efficiency and certain safety hazards.

[0006] Therefore, the development trend of intelligent operation of tower cranes has become inevitable. Summary of the Invention

[0007] The main purpose of the present invention is to provide an unmanned driving control system and an unmanned driving control method for a tower crane, so as to at least solve the problem of low intelligence level of tower crane operation in the prior art.

[0008] In order to achieve the above-mentioned object, the present invention provides an unmanned driving control system and an unmanned driving control method for a tower crane.

[0009] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, a tower crane unmanned driving control system is provided, including two intercom positioning control terminals, an information sensor group, a laser radar sensor, a central control unit, a tower crane electronic control unit, a tower crane actuator and a wireless communication module; the two intercom positioning control terminals are respectively located at the ground lifting point and the destination unloading point, and the two intercom positioning control terminals are used to respectively obtain the real-time spatial position data of the ground lifting point and the destination unloading point during the operation of the tower crane; the information sensor group is arranged on the tower crane, and the information sensor group is used to obtain the lifting height of the tower crane hook, the operating amplitude of the tower crane trolley and the rotation angle data of the tower crane boom during the operation of the tower crane; the laser radar sensor is arranged on the tower crane, and the laser radar sensor is used to emit a laser beam to scan the three-dimensional modeling data of obstacles in the surrounding environment of the tower crane; the central control unit is connected to the information sensor group and the laser radar sensor, and the central control unit is used to generate The tower crane is connected to the central control unit, and the tower crane electronic control unit is used to receive the path control instructions that can be executed by the tower crane electronic control unit according to the preset operation path of the tower crane; the tower crane actuator is connected to the tower crane electronic control unit, and the tower crane actuator executes the path control instructions according to the tower crane electronic control unit to drive the tower crane to operate according to the preset operation path of the tower crane; the wireless communication module is connected to the central control unit, and the wireless communication module is used to send and receive wireless communication signals; wherein, the two intercom positioning control terminals are connected to the central control unit through the wireless communication module so that the two intercom positioning control terminals communicate with the central control unit, and the two intercom positioning control terminals communicate with each other through the wireless communication module.

[0010] Furthermore, the information sensor group includes a height sensor, an amplitude sensor and an angle sensor; the height sensor is arranged on the lifting mechanism gear of the tower crane's balance arm, and the height sensor is used to monitor the lifting height of the tower crane's hook in real time; the amplitude sensor is arranged on the amplitude change mechanism gear of the tower crane's lifting arm, and the amplitude sensor is used to monitor the operating amplitude of the tower crane trolley in real time; the angle sensor is arranged on the outside of the gear ring of the tower crane's rotating upper structure, and the angle sensor is used to measure the rotation angle of the tower crane's lifting arm in real time.

[0011] Furthermore, the information sensor group also includes a wind speed sensor and a weight sensor; the wind speed sensor is arranged at the middle position of the tower crane's balance arm, and the wind speed sensor is used to monitor the ambient wind speed of the tower crane in real time; the weight sensor is arranged at the rear end of the tower crane's lifting arm, and the weight sensor is used to monitor the weight of the cargo lifted by the tower crane in real time; wherein, the wind speed sensor and the weight sensor are both connected to the central control unit, and the central control unit is also used to generate operation control instructions according to the ambient wind speed of the tower crane and the weight of the cargo lifted by the tower crane; the tower crane electronic control unit controls the tower crane actuator to start or stop operation according to the operation control instructions.

[0012] Furthermore, the central control unit includes a data transmission module, a data processing module, a motion planning module and an adapter; the data transmission module is connected to the information sensor group, the laser radar sensor and the wireless communication module, and the data transmission module is used to collect and send the lifting height of the tower crane hook, the operating range of the tower crane trolley, the rotation angle data of the tower crane boom, the three-dimensional modeling data and the real-time spatial position data of the ground lifting point and the destination unloading point; the data processing module is connected to the data transmission module, and the data processing module is used to generate three-dimensional model data based on the three-dimensional modeling data; the motion planning module is connected to the data processing module, and the motion planning module is used to generate and send the tower crane preset operation path based on the lifting height of the tower crane hook, the operating range of the tower crane trolley, the rotation angle data of the tower crane boom, the real-time spatial position data of the ground lifting point or the destination unloading point and the three-dimensional model data, and convert the tower crane preset operation path into path control instructions; the adapter is connected to the motion planning module, and the adapter is used to receive path control instructions and convert them into parameters of various parts of the tower crane and send them down.

[0013] Furthermore, the unmanned driving control system of the tower crane also includes a pan-tilt platform, which is installed at the arm root of the tower crane's lifting arm, and the laser radar sensor is arranged on the pan-tilt platform.

[0014] According to another aspect of the present invention, a tower crane unmanned driving control method is provided. The tower crane unmanned driving control method is applied to any of the above-mentioned tower crane unmanned driving control systems. The tower crane unmanned driving control method includes:

[0015] The crane's initial posture data is calculated based on the crane's hook lifting height, trolley operating range, and boom rotation angle data during operation.

[0016] Acquire the 3D modeling data of obstacles in the environment around the tower crane in real time and generate 3D model data of obstacles in the environment around the tower crane based on the 3D modeling data;

[0017] Obtain the spatial location data of the tower crane's ground hoisting point and the destination unloading point;

[0018] Generate the preset operation path and target posture data of the tower crane based on the initial posture data, the three-dimensional model data and the spatial position data of the ground hoisting point or the destination unloading point;

[0019] The preset operation path and target posture data are converted into path control instructions and the tower crane hook is driven to the ground lifting point or the destination unloading point according to the path control instructions.

[0020] Furthermore, acquiring the three-dimensional modeling data of the obstacles in the environment around the tower crane in real time and generating the three-dimensional model data of the obstacles in the environment around the tower crane according to the three-dimensional modeling data includes:

[0021] Emitting a laser beam toward the surrounding environment of the tower crane;

[0022] Receive the laser beam signal reflected by obstacles in the tower crane's surrounding environment and convert it into an electrical signal;

[0023] Processing and calculating the converted electrical signals to obtain the position information and geometric shape information of the obstacle;

[0024] By periodically scanning obstacles and splicing, denoising and feature extracting the obtained obstacle position information and geometric shape information, three-dimensional model data of obstacles in the tower crane's surrounding environment is generated.

[0025] Furthermore, generating a preset operation path and target posture data of the tower crane based on the initial posture data, the three-dimensional model data, and the spatial position data of the ground hoisting point or the destination unloading point includes:

[0026] Generate a global cost map based on the initial pose data and 3D model data;

[0027] Retrieve the global cost map to calculate and generate the global path planning between the ground lifting point and the destination unloading point and select the global optimal path;

[0028] Generate a local cost map based on the 3D model data acquired in real time;

[0029] The local cost map is retrieved to calculate and generate the local path plan between the ground lifting point and the destination unloading point, and the local optimal path is selected by combining the initial posture data, 3D model data and the global optimal path to ensure that the local optimal path is as consistent as possible with the global optimal path;

[0030] The local optimal path is set as the preset operation path of the tower crane and the target posture data is generated.

[0031] Furthermore, before driving the tower crane hook to operate according to the path control instruction, the tower crane unmanned driving control method further includes:

[0032] Monitor the ambient wind speed of the tower crane and the weight of the cargo lifted by the tower crane;

[0033] When the ambient wind speed of the tower crane is greater than a preset value and / or the weight of the cargo lifted by the tower crane is greater than a preset value, the hook of the tower crane is controlled to stop running.

[0034] Furthermore, in the process of driving the tower crane hook to operate according to the path control instruction, the tower crane unmanned driving control method further includes:

[0035] Monitor the ambient wind speed of the tower crane and the weight of the cargo lifted by the tower crane;

[0036] When the ambient wind speed of the tower crane is greater than a preset value and / or the weight of the cargo lifted by the tower crane changes suddenly, the hook of the tower crane is controlled to stop running.

[0037] The unmanned tower crane control method of the present invention includes: acquiring real-time data on the crane hook's lifting height, the crane trolley's operating range, and the crane boom's slew angle during operation, and calculating the crane's initial posture data based on these data; acquiring real-time three-dimensional modeling data of obstacles in the crane's surrounding environment, and generating three-dimensional model data of these obstacles based on the three-dimensional modeling data; acquiring spatial position data of the crane's ground hoisting point and destination unloading point; generating a preset operation path and target posture data for the crane based on the initial posture data, the three-dimensional model data, and the spatial position data of the ground hoisting point or destination unloading point; converting the preset operation path and target posture data into path control instructions, and driving the crane hook to the ground hoisting point or destination unloading point based on the path control instructions. The tower crane system autonomously collects data on the crane's operating status and surrounding environment, and generates a path plan to control the crane's operation, thus resolving the problem of low intelligence in tower crane operation in existing technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0039] Figure 1 This is a schematic structural diagram of an optional unmanned control system for a tower crane according to an embodiment of the present invention;

[0040] Figure 2 This is a schematic diagram of the structure of an information sensor group of an unmanned tower crane control system according to an embodiment of the present invention;

[0041] Figure 3 This is a schematic structural diagram of a central control unit of an unmanned tower crane control system according to an embodiment of the present invention;

[0042] Figure 4This is a flowchart of an optional unmanned control method for a tower crane according to an embodiment of the present invention;

[0043] Figure 5 This is a flowchart of S104 of an optional tower crane unmanned driving control method according to an embodiment of the present invention;

[0044] Figure 6 This is a flowchart of S108 of an optional tower crane unmanned driving control method according to an embodiment of the present invention;

[0045] Figure 7 This is a flow chart of S110 of an optional tower crane unmanned driving control method according to an embodiment of the present invention;

[0046] Figure 8 is a schematic diagram of an optional ROS MoveIt platform according to an embodiment of the present invention;

[0047] Figure 9 This is a schematic diagram of a preset path planning method for an unmanned tower crane control method according to an embodiment of the present invention;

[0048] Figure 10 The present invention is a flowchart of a preset path planning method for controlling an unmanned tower crane according to an embodiment of the present invention.

[0049] The above drawings include the following reference numerals:

[0050] 10. Intercom positioning control terminal; 20. Information sensor group; 21. Altitude sensor; 22. Amplitude sensor; 23. Angle sensor; 24. Wind speed sensor; 25. Weight sensor; 30. LiDAR sensor; 40. Central control unit; 41. Data transmission module; 42. Data processing module; 43. Motion planning module; 44. Adapter; 50. Tower crane electronic control unit; 60. Tower crane actuator; 70. Wireless communication module; 80. Pan / tilt platform. DETAILED DESCRIPTION

[0051] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0052] According to an embodiment of the present invention, an unmanned driving control system for a tower crane is provided. Figure 1As shown, it includes two intercom positioning control terminals 10, an information sensor group 20, a laser radar sensor 30, a central control unit 40, a tower crane electronic control unit 50, a tower crane actuator 60 and a wireless communication module 70; the two intercom positioning control terminals 10 are respectively located at the ground hoisting point and the destination unloading point, and the two intercom positioning control terminals 10 are used to respectively obtain the real-time spatial position data of the ground hoisting point and the destination unloading point during the operation of the tower crane; the information sensor group 20 is set on the tower crane, and the information sensor group 20 is used to obtain the lifting height of the tower crane hook, the operating amplitude of the tower crane trolley and the rotation angle data of the tower crane boom during the operation of the tower crane; the laser radar sensor 30 is set on the tower crane, and the laser radar sensor 30 is used to emit a laser beam to scan the three-dimensional modeling data of the obstacles in the surrounding environment of the tower crane; the central control unit 40 is connected to the information sensor group 20 and the laser radar sensor 30, and the central control unit 40 is used to generate a three-dimensional model data of the obstacles in the surrounding environment of the tower crane according to the three-dimensional modeling data scanned by the laser radar sensor 30 The tower crane generates a preset operation path according to the data, as well as the lifting height of the tower crane hook, the operating range of the tower crane trolley, the rotation angle data of the tower crane boom, the real-time spatial position data of the ground lifting point or the destination unloading point, and the three-dimensional model data; the tower crane electronic control unit 50 is connected to the central control unit 40, and the tower crane electronic control unit 50 is used to receive the path control instructions executable by the tower crane electronic control unit 50 converted by the central control unit 40 according to the preset operation path of the tower crane; the tower crane actuator 60 is connected to the tower crane electronic control unit 50, and the tower crane actuator 60 executes the path control instructions according to the tower crane electronic control unit 50 to drive the tower crane to operate according to the preset operation path of the tower crane; the wireless communication module 70 is connected to the central control unit 40, and the wireless communication module 70 is used to send and receive wireless communication signals; wherein, the two intercom positioning control terminals 10 are connected to the central control unit 40 through the wireless communication module 70 so that the two intercom positioning control terminals 10 communicate with the central control unit 40, and the two intercom positioning control terminals 10 communicate with each other through the wireless communication module 70. Two intercom positioning control terminals 10 enable communication between ground operators, real-time positioning, one-touch crane calling, and close-range crane operation. The crane system autonomously collects data on the crane's operating status and surrounding environment, and generates a path plan to control the crane's operation, addressing the low level of intelligent operation found in existing crane technologies.

[0053] When implementing it specifically, Figure 2As shown, the information sensor group 20 includes a height sensor 21, an amplitude sensor 22 and an angle sensor 23; the height sensor 21 is arranged on the lifting mechanism gear of the tower crane's balance arm, and the height sensor 21 is used to monitor the lifting height of the tower crane hook in real time; the amplitude sensor 22 is arranged on the luffing mechanism gear of the tower crane's boom, and the amplitude sensor 22 is used to monitor the operating amplitude of the tower crane trolley in real time; the angle sensor 23 is arranged on the outer side of the gear ring of the tower crane's rotating superstructure, and the angle sensor 23 is used to measure the rotating angle of the tower crane's boom in real time, thereby realizing the monitoring function of the lifting height of the tower crane hook, the operating amplitude of the tower crane trolley and the rotating angle data of the tower crane's boom during the operation of the tower crane.

[0054] Furthermore, the information sensor group 20 also includes a wind speed sensor 24 and a weight sensor 25; the wind speed sensor 24 is arranged at the middle position of the tower crane's balance arm, and the wind speed sensor 24 is used to monitor the ambient wind speed of the tower crane in real time; the weight sensor 25 is arranged at the rear end of the tower crane's lifting arm, and the weight sensor 25 is used to monitor the weight of the cargo lifted by the tower crane in real time; wherein, the wind speed sensor 24 and the weight sensor 25 are both connected to the central control unit 40, and the central control unit 40 is also used to generate operation control instructions according to the ambient wind speed of the tower crane and the weight of the cargo lifted by the tower crane; the tower crane electronic control unit 50 controls the tower crane actuator 60 to start or stop operation according to the operation control instructions, and ensures that the tower crane operates in a safe state by monitoring the ambient wind speed of the tower crane and the weight of the cargo lifted by the tower crane.

[0055] When implementing it specifically, Figure 3As shown, the central control unit 40 includes a data transmission module 41, a data processing module 42, a motion planning module 43 and an adapter 44; the data transmission module 41 is connected to the information sensor group 20, the laser radar sensor 30 and the wireless communication module 70, and the data transmission module 41 is used to collect and send the lifting height of the tower crane hook, the operating range of the tower crane trolley, the rotation angle data of the tower crane boom, the three-dimensional modeling data and the real-time spatial position data of the ground lifting point and the destination unloading point; the data processing module 42 is connected to the data transmission module 41, and the data processing module 42 is used to 3D model data is generated based on the 3D modeling data. A motion planning module 43 is connected to the data processing module 42. This module is used to generate and distribute a preset tower crane path based on the crane hook's lifting height, the crane trolley's operating range, the crane boom's slew angle, the real-time spatial location data of the ground hoisting point or the destination unloading point, and the 3D model data. This module also converts the preset tower crane path into path control instructions. An adapter 44 is connected to the motion planning module 43. This adapter receives path control instructions, converts them into parameters for various tower crane components, and distributes them. The intelligent control system is responsible for collecting and processing various sensor data, including the location and geometry of obstacles detected by the LiDAR (Lidar) radar, and the real-time coordinates of the positioning intercom. Furthermore, this intelligent control system issues control instructions to the crane's electronic control unit.

[0056] Furthermore, the unmanned driving control system of the tower crane also includes a pan-tilt platform 80, which is installed at the arm root of the tower crane's lifting arm. The laser radar sensor 30 is set on the pan-tilt platform 80 and can rotate 360 ​​degrees with the tower crane to avoid the impact of vibration during the operation of the tower crane on the stability of the laser radar sensor 30 and ensure data accuracy. The pan-tilt platform 80 can also perform angle compensation for the field of view angle of the laser radar sensor to increase the radar scanning range.

[0057] According to another embodiment of the present invention, a tower crane unmanned driving control method is applied to any of the above-mentioned tower crane unmanned driving control systems, such as Figure 4 As shown, the tower crane unmanned driving control method includes:

[0058] S102: acquiring in real time data on the lifting height of the tower crane hook, the operating range of the tower crane trolley, and the rotation angle of the tower crane boom during the operation of the tower crane, and calculating initial posture data of the tower crane based on the lifting height of the tower crane hook, the operating range of the tower crane trolley, and the rotation angle of the tower crane boom;

[0059] S104: Acquire three-dimensional modeling data of obstacles in the environment around the tower crane in real time and generate three-dimensional model data of obstacles in the environment around the tower crane based on the three-dimensional modeling data;

[0060] S106: Acquire spatial location data of the ground hoisting point and the destination unloading point of the tower crane;

[0061] S108: Generate a preset operation path and target posture data of the tower crane based on the initial posture data, the three-dimensional model data, and the spatial position data of the ground hoisting point or the destination unloading point;

[0062] S110: Convert the preset operation path and target posture data into a path control instruction and drive the tower crane hook to the ground hoisting point or the destination unloading point according to the path control instruction.

[0063] When implementing it specifically, Figure 5 As shown, in step S104, acquiring the three-dimensional modeling data of the obstacles in the environment around the tower crane in real time and generating the three-dimensional model data of the obstacles in the environment around the tower crane according to the three-dimensional modeling data includes:

[0064] S1041: Emits a laser beam toward the crane's surroundings. Uses a laser radar to dynamically monitor changes in the crane's surroundings in real time. The laser radar is insensitive to lighting changes and is unaffected by night scenes, allowing it to operate around the clock.

[0065] S1042: Receive laser beam signals reflected by obstacles in the tower crane's surrounding environment and convert them into electrical signals;

[0066] S1043: Process and calculate the converted electrical signals to obtain point cloud data, including obstacle location and geometric shape information. LiDAR has higher ranging accuracy than other sensors and has a certain degree of anti-interference capability. It can detect and generate a three-dimensional image of environmental objects in real time.

[0067] S1044: Obstacles are periodically scanned and the obtained point cloud data, such as the position information and geometric shape information of the obstacles, are spliced, denoised, and features are extracted to generate three-dimensional model data of obstacles in the environment surrounding the tower crane.

[0068] When implementing it specifically, Figure 6 As shown, in step 108, generating the preset operation path and target posture data of the tower crane according to the initial posture data, the three-dimensional model data, and the spatial position data of the ground hoisting point or the destination unloading point includes:

[0069] S1081: Generate a global cost map based on the initial posture data and 3D model data. Before the crane is operating, the LiDAR performs a full rotation to generate a 3D model of the surrounding environment, which is a static global cost map.

[0070] S1082: The global path planner is called to generate a global path plan between the ground hoisting point and the destination unloading point using the collision detection algorithm and the path planning algorithm according to the global cost map, and then select the globally optimal path. Before the movement, the global planner uses the received tower crane posture data, the global cost map, and the corresponding path planning algorithm to generate a path from the current position to the destination position, and then passes it to the local path planner.

[0071] S1083: Generate a local cost map based on the real-time acquired 3D model data; the local cost map is a dynamic map generated based on the real-time data of the LiDAR;

[0072] S1084: The local path planner is called to calculate and generate a local path plan between the ground lifting point and the destination unloading point using the collision detection algorithm and the path planning algorithm based on the local cost map. The local optimal path is selected by combining the initial posture data and the 3D model data to maximize the consistency with the global optimal path. The local path planner divides the global optimal path into many small segments, executes them in segments, and then performs local path planning based on the local cost map to achieve obstacle avoidance for dynamic obstacles.

[0073] S1085: Set the local optimal path as the preset operation path of the tower crane and generate target posture data. Through the collision monitoring algorithm and path planning algorithm, while avoiding environmental obstacles, call the global path planner to find a better path to reach the target posture, and call the local path planner to enable the tower crane to move along the planned path and dynamically avoid obstacles during operation; when the navigation route of the tower crane is blocked, the "abnormal recovery" plug-in function will be triggered to adjust the navigation route. If the adjustment fails, the navigation will be terminated.

[0074] When implementing it specifically, Figure 7 As shown, in step S110, before driving the tower crane hook to operate according to the path control instruction, the tower crane unmanned driving control method further includes:

[0075] S1101: Monitor the ambient wind speed of the tower crane and the weight of the cargo lifted by the tower crane;

[0076] S1102: When the ambient wind speed of the tower crane is greater than a preset value and / or the weight of the cargo lifted by the tower crane is greater than a preset value, the hook of the tower crane is controlled to stop operating.

[0077] In specific implementation, in step S110, during the process of driving the tower crane hook to operate according to the path control instruction, the tower crane unmanned driving control method further includes:

[0078] S1103: Monitor the ambient wind speed of the tower crane and the weight of the cargo lifted by the tower crane;

[0079] S1104: When the ambient wind speed of the tower crane is greater than a preset value and / or the weight of the cargo being lifted by the tower crane changes suddenly, the hook of the tower crane is controlled to stop running.

[0080] The tower crane unmanned driving control method uses the ROS MoveIt platform, such as Figure 8 As shown, the modeling, motion planning, obstacle avoidance and other operations of the tower crane are realized. The tower crane is enabled to perform motion planning in a complex environment and safely reach another location from one location. The laser radar sensor 30 is used to monitor the environment around the tower crane in real time and feed it back to the motion planning system. The tower crane then makes dynamic adjustments based on these changes. The Move_group node in MoveIt will call the KDL kinematics algorithm, OMPL motion planning algorithm, interpolation algorithm, and FCL collision monitoring algorithm based on the tower crane model URDF file, configuration SRDF file, tower crane initial state information, tower crane target posture information, and environmental information to generate the required motion trajectory. This trajectory represents the posture, velocity, acceleration and other information on the tower crane motion trajectory in the form of a PVT format array. Using the KDL forward and inverse kinematics solver and the OMPL trajectory planner, the Cartesian space posture can be quickly converted into the corresponding joint angle posture. The RRT algorithm is used as the path planning algorithm for tower crane simulation analysis. After RRT finds the path, MoveIt performs motion planning such as tower crane posture interpolation and inverse kinematics solution on the path, and finally generates a real-time joint motion information file that can be executed by the tower crane controller. Figure 9 and Figure 10 As shown, before motion planning, the coordinate information of the positioning intercom needs to be collected and processed, and converted into the tower crane's posture information as the target posture information. First, the tower crane's target posture is set, and then a motion planning request is sent. The planning request adapter pre-processes the target posture request to help correct illegal states of the tower crane's various mechanisms. It can also add speed and acceleration constraints to achieve parametric motion planning. The motion planner performs motion planning based on the set position and direction constraints and generates a trajectory. At the same time, the planning request adapter can add time parameters to the generated trajectory, ultimately generating motion trajectory information. This is converted into tower crane path control instructions and sent to the tower crane's electronic control unit 50. The tower crane's electronic control unit 50 drives the tower crane's actuator 60 to control the tower crane. Autonomous path planning and autonomous operation enable the tower crane to achieve the level of intelligent control required for unmanned tower cranes. The active collision avoidance function provides strong support for the safe and efficient lifting of the tower crane, achieving the concept of intelligent, low-manpower, and even unmanned tower crane construction based on practical considerations.

[0081] When the unmanned control method of the tower crane is implemented, the ground operator uses two intercom positioning control terminals 10 to remotely call the tower crane; after the tower crane receives the call command, the central control unit 40 locates the target position of the ground operator through the wireless communication module 70 and obtains the real-time spatial position data of the ground lifting point and the destination unloading point. The information sensor group 20 collects the lifting height of the tower crane hook, the operating range of the tower crane trolley and the rotation angle data of the tower crane boom during the operation of the tower crane and sends it down. The laser radar sensor 30 scans and obtains the three-dimensional construction of the surrounding environment of the tower crane. The central control unit 40 generates 3D model data of obstacles surrounding the tower crane based on the 3D modeling data scanned by the laser radar sensor 30. It also generates a preset operation path for the tower crane based on the lifting height of the tower crane hook, the operating range of the tower crane trolley, the slew angle of the tower crane boom, the real-time spatial position data of the ground lifting point or the destination unloading point, and the 3D model data, and converts it into path control instructions. The tower crane electronic control unit 50 executes the path control instructions to drive the tower crane actuator 60 to drive the tower crane according to the preset operation path. The control method includes functions such as operation by two intercom positioning control terminals 10, intelligent lifting autonomous path planning, active collision avoidance, and autonomous operation. This achieves a transition from "tower crane high-altitude operation to ground operation" to "remote intelligent control," addressing the harsh operating environment of tower cranes at high altitude, improving on-site lifting accuracy, and effectively ensuring the personal safety of operators.

[0082] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A tower crane unmanned driving control system, characterized in that: include: Two intercom positioning control terminals (10), the two intercom positioning control terminals (10) are respectively located at a ground hoisting point and a destination unloading point, and the two intercom positioning control terminals (10) are used to respectively obtain real-time spatial position data of the ground hoisting point and the destination unloading point during the operation of the tower crane; An information sensor group (20), the information sensor group (20) being arranged on the tower crane, and the information sensor group (20) being used to obtain data on the lifting height of the tower crane hook, the operating amplitude of the tower crane trolley, and the rotation angle of the tower crane boom during the operation of the tower crane; A laser radar sensor (30), the laser radar sensor (30) being arranged on the tower crane, and the laser radar sensor (30) being used to emit a laser beam to scan three-dimensional modeling data of obstacles in the environment surrounding the tower crane; A central control unit (40), the central control unit (40) being connected to both the information sensor group (20) and the laser radar sensor (30), the central control unit (40) being used to generate three-dimensional model data of obstacles in the surrounding environment of the tower crane based on the three-dimensional modeling data scanned by the laser radar sensor (30), and to generate a preset operation path of the tower crane based on the lifting height of the tower crane hook, the operating amplitude of the tower crane trolley, the rotation angle data of the tower crane boom, the real-time spatial position data of the ground lifting point or the destination unloading point, and the three-dimensional model data; A tower crane electric control unit (50), the tower crane electric control unit (50) being connected to the central control unit (40), the tower crane electric control unit (50) being used to receive a path control instruction executable by the tower crane electric control unit (50) converted by the central control unit (40) according to a preset operation path of the tower crane; A tower crane actuator (60), the tower crane actuator (60) being connected to the tower crane electric control unit (50), and the tower crane actuator (60) executing the path control instruction according to the tower crane electric control unit (50) to drive the tower crane to operate according to the tower crane preset operation path; A wireless communication module (70), the wireless communication module (70) being connected to the central control unit (40), and the wireless communication module (70) being used for transmitting and receiving wireless communication signals; A pan-tilt platform (80), the pan-tilt platform (80) being mounted on the arm root of the tower crane boom, and the laser radar sensor (30) being arranged on the pan-tilt platform (80); The central control unit (40) includes a data transmission module (41), a data processing module (42), a motion planning module (43) and an adapter (44); the data transmission module (41) is connected to the information sensor group (20), the laser radar sensor (30) and the wireless communication module (70); the data transmission module (41) is used to collect and send the lifting height of the tower crane hook, the operating range of the tower crane trolley, the rotation angle data of the tower crane boom, the three-dimensional modeling data and the real-time spatial position data of the ground lifting point and the destination unloading point; the data processing module (42) is connected to the data transmission module (41); the data processing module (43 ... 2) used to generate the three-dimensional model data according to the three-dimensional modeling data; the motion planning module (43) is connected to the data processing module (42), and the motion planning module (43) is used to generate and issue the preset operation path of the tower crane according to the lifting height of the tower crane hook, the operating amplitude of the tower crane trolley, the rotation angle data of the tower crane boom, the real-time spatial position data of the ground lifting point or the destination unloading point and the three-dimensional model data, and convert the preset operation path of the tower crane into the path control instruction; the adapter (44) is connected to the motion planning module (43), and the adapter (44) is used to receive the path control instruction and convert it into parameters of each part of the tower crane and issue it; The two intercom positioning control terminals (10) are connected to the central control unit (40) via the wireless communication module (70) so that the two intercom positioning control terminals communicate with the central control unit (40), and the two intercom positioning control terminals (10) communicate with each other via the wireless communication module (70).

2. The unmanned tower crane control system according to claim 1, characterized in that: The information sensor group (20) includes: A height sensor (21), the height sensor (21) being arranged on a hoisting mechanism gear of a tower crane balance arm, the height sensor (21) being used for real-time monitoring of the hoisting height of the tower crane hook; An amplitude sensor (22), the amplitude sensor (22) being arranged on a gear of a luffing mechanism of the tower crane boom, the amplitude sensor (22) being used for real-time monitoring of the operating amplitude of the tower crane trolley; An angle sensor (23) is provided on the outside of the gear ring of the tower crane's slewing upper structure, and the angle sensor (23) is used to measure the slewing angle of the tower crane's lifting arm in real time.

3. The unmanned tower crane control system according to claim 1, characterized in that: The information sensor group (20) further includes: A wind speed sensor (24), the wind speed sensor (24) being arranged at a middle position of the tower crane balance arm, and the wind speed sensor (24) being used to monitor the ambient wind speed of the tower crane in real time; A weight sensor (25), the weight sensor (25) being arranged at the rear end of the tower crane boom, the weight sensor (25) being used to monitor the weight of the cargo lifted by the tower crane in real time; The wind speed sensor (24) and the weight sensor (25) are both connected to the central control unit (40), and the central control unit (40) is further configured to generate an operation control instruction based on the ambient wind speed of the tower crane and the weight of the cargo lifted by the tower crane; and the tower crane electrical control unit (50) controls the tower crane actuator (60) to start or stop operation according to the operation control instruction.

4. A tower crane unmanned driving control method, characterized in that: The tower crane unmanned driving control method is applied to the tower crane unmanned driving control system according to any one of claims 1 to 3, and the tower crane unmanned driving control method includes: Acquire the lifting height of the tower crane hook, the operating range of the tower crane trolley, and the rotation angle data of the tower crane boom in real time during the operation of the tower crane, and calculate the initial posture data of the tower crane based on the lifting height of the tower crane hook, the operating range of the tower crane trolley, and the rotation angle data of the tower crane boom; Acquire three-dimensional modeling data of obstacles in the environment around the tower crane in real time and generate three-dimensional model data of the obstacles in the environment around the tower crane based on the three-dimensional modeling data; Obtain the spatial location data of the tower crane's ground hoisting point and the destination unloading point; Generate a preset operation path and target posture data of the tower crane according to the initial posture data, the three-dimensional model data, and the spatial position data of the ground hoisting point or the destination unloading point; The preset operation path and the target posture data are converted into path control instructions and the tower crane hook is driven to move to the ground hoisting point or the destination unloading point according to the path control instructions.

5. The unmanned tower crane control method according to claim 4, characterized in that: The step of acquiring the three-dimensional modeling data of obstacles in the environment around the tower crane in real time and generating the three-dimensional model data of the obstacles in the environment around the tower crane according to the three-dimensional modeling data comprises: Emitting a laser beam toward the surrounding environment of the tower crane; receiving laser beam signals reflected by obstacles in the surrounding environment of the tower crane and converting them into electrical signals; Processing and calculating the converted electrical signal to obtain position information and geometric shape information of the obstacle; The obstacles are periodically scanned and the acquired position information and geometric shape information of the obstacles are spliced, denoised and feature extracted to generate three-dimensional model data of the obstacles in the surrounding environment of the tower crane.

6. The unmanned tower crane control method according to claim 4, characterized in that: Generating the preset operation path and target posture data of the tower crane according to the initial posture data, the three-dimensional model data, and the spatial position data of the ground hoisting point or the destination unloading point includes: generating a global cost map based on the initial posture data and the three-dimensional model data; Retrieving the global cost map to calculate and generate a global path plan between the ground hoisting point and the destination unloading point and selecting a globally optimal path; Generating a local cost map based on the three-dimensional model data acquired in real time; Retrieving the local cost map to calculate and generate a local path plan between the ground hoisting point and the destination unloading point, and selecting a local optimal path by combining the initial posture data, the three-dimensional model data, and the global optimal path; The local optimal path is set as the preset operation path of the tower crane and the target posture data is generated.

7. The unmanned tower crane control method according to claim 4, characterized in that: Before driving the tower crane hook to operate according to the path control instruction, the tower crane unmanned driving control method further includes: Monitor the ambient wind speed of the tower crane and the weight of the cargo lifted by the tower crane; When the ambient wind speed of the tower crane is greater than a preset value and / or the weight of the cargo lifted by the tower crane is greater than a preset value, the hook of the tower crane is controlled to stop running.

8. The unmanned tower crane control method according to claim 4, characterized in that: During the process of driving the tower crane hook to operate according to the path control instruction, the tower crane unmanned driving control method further includes: Monitor the ambient wind speed of the tower crane and the weight of the cargo lifted by the tower crane; When the ambient wind speed of the tower crane is greater than a preset value and / or the weight of the cargo lifted by the tower crane suddenly changes, the hook of the tower crane is controlled to stop running.

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