Tower dispatching method, tower dispatching device, server and tower dispatching control system

Abstract

The embodiment of the invention provides a tower dispatching method, a tower dispatching device, a server and a tower dispatching control system, and relates to the technical field of intelligent control of engineering machinery. The method comprises the following steps: in response to a delivery request of target delivery remote control equipment and a receiving request of target receiving remote control equipment, obtaining a target delivery point position of the target delivery remote control equipment and a target receiving point position of the target receiving remote control equipment; based on the target delivery point position, the target receiving point position and the positions of all hoisting equipment in the hoisting equipment group, the hoisting equipment with the hoisting range covering the target delivery point position and the target receiving point position is determined as to-be-distributed hoisting equipment; and under the condition that the number of the to-be-distributed hoisting equipment is multiple, the target hoisting equipment is determined according to the position relation between the to-be-distributed hoisting equipment and the target delivery point position and / or the target receiving point position. The operation efficiency and the hoisting safety of the unmanned tower crane in the group tower operation scene are effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent control of engineering machinery, and in particular to a PTA method, a PTA device, a server and a PTA control system. Background Art

[0002] At present, unmanned tower cranes have been used in construction sites. Since there are no operators on unmanned tower cranes, when unmanned tower cranes are used on construction sites and there are multiple unmanned tower cranes working at the same time, it is necessary to dispatch the unmanned tower cranes to achieve collaborative operation of multiple towers. The existing unmanned tower crane control method is only applicable to the operation control of a single tower crane, and cannot be used in group tower operation scenarios, nor does it involve the dispatching control of tower cranes. Therefore, the existing method cannot dispatch the optimal tower crane to perform lifting operations according to the location of the shipping location and the location of the receiving location to ensure the operating efficiency and lifting safety of the unmanned tower crane. Summary of the invention

[0003] The purpose of the embodiments of the present invention is to provide a tower dispatching method, a tower dispatching device, a server and a tower dispatching control system to solve the problem that the prior art cannot perform dispatching and control of group tower operations.

[0004] In order to achieve the above object, in a first aspect of the present invention, a Paita method is provided, which is applied to a server, and the method comprises:

[0005] In response to a shipping request of a target shipping remote control device and a receiving request of a target receiving remote control device, obtaining a target shipping point location of the target shipping remote control device and a target receiving point location of the target receiving remote control device;

[0006] Based on the target shipping point location, the target receiving point location, and the locations of all the lifting equipment in the lifting equipment group, determining the lifting equipment whose lifting range covers the target shipping point location and the target receiving point location as the lifting equipment to be dispatched;

[0007] In the case that there are multiple lifting equipments to be dispatched, the target lifting equipment is determined according to the positional relationship between each lifting equipment to be dispatched and the position of the target shipping point and / or the position of the target receiving point.

[0008] Optionally, after determining that the lifting equipment whose lifting range covers the target shipping point location and the target receiving point location is the lifting equipment to be dispatched, the method further includes:

[0009] In the case that there is only one lifting equipment to be dispatched, the lifting equipment to be dispatched is determined to be the target lifting equipment.

[0010] Optionally, after determining the target hoisting equipment according to the positional relationship between each hoisting equipment to be dispatched and the target shipping point position and / or the target receiving point position, the method further includes:

[0011] The control authority of the target lifting equipment is allocated to the target shipping remote control equipment and the target receiving remote control equipment.

[0012] Optionally, in the case where there are multiple lifting equipment to be dispatched, the method further comprises receiving the equipment status of each lifting equipment to be dispatched, and determining the target lifting equipment according to the equipment status of each lifting equipment to be dispatched, wherein the equipment status comprises whether the lifting equipment is in a running state or an idle state;

[0013] Determine the target lifting equipment based on the equipment status of each lifting equipment to be dispatched, including:

[0014] Obtain the equipment status of each lifting equipment to be dispatched;

[0015] In the case that the number of the to-be-dispatched hoisting equipment in the idle state is single, determining the to-be-dispatched hoisting equipment in the idle state as the target hoisting equipment;

[0016] When there are multiple lifting equipment to be dispatched whose equipment status is idle, the target lifting equipment is determined according to the positional relationship between each lifting equipment to be dispatched whose equipment status is idle and the target shipping point location and / or the target receiving point location.

[0017] Optionally, when there are multiple hoisting devices to be dispatched whose equipment status is idle, the method further includes receiving the equipment height of each hoisting device to be dispatched, and determining the target hoisting device according to the equipment height of each hoisting device to be dispatched;

[0018] Determine the target lifting equipment according to the equipment height of each lifting equipment to be dispatched, including:

[0019] The equipment height of each hoisting equipment to be dispatched is obtained, and when the hoisting equipment to be dispatched with the lowest equipment height is a single unit, the hoisting equipment to be dispatched with the lowest equipment height is determined as the target hoisting equipment;

[0020] When there are multiple lifting equipments with the lowest equipment height to be dispatched, the target lifting equipment is determined according to the positional relationship between each lifting equipment with the lowest equipment height to be dispatched and the target shipping point position and / or the target receiving point position.

[0021] Optionally, determining the target hoisting equipment according to the positional relationship between each hoisting equipment to be dispatched and the target shipping point position and / or the target receiving point position includes:

[0022] Determine the distance between each of the to-be-dispatched hoisting equipment and the target receiving point location according to the hoisting equipment location of each of the to-be-dispatched hoisting equipment;

[0023] The to-be-dispatched lifting equipment that is closest to the target delivery point is determined as the target lifting equipment.

[0024] Optionally, determining the target hoisting equipment according to the positional relationship between each hoisting equipment to be dispatched and the target shipping point position and / or the target receiving point position includes:

[0025] Determine a first distance between the lifting equipment position of each lifting equipment to be dispatched and the target delivery point position, and determine a second distance between the lifting equipment position of each lifting equipment to be dispatched and the target delivery point position;

[0026] The lifting equipment to be dispatched with the smallest sum of the first distance and the second distance among all the lifting equipment to be dispatched is determined as the target lifting equipment.

[0027] Optionally, obtaining the target shipping point location of the target shipping remote control device and the target receiving point location of the target receiving remote control device includes:

[0028] Receiving the target shipping point location and the target receiving point location input by the user through the first data interface; or

[0029] Through the second data interface, the target shipping point location is obtained from the positioning device of the target shipping remote control device, and the target receiving point location is obtained from the positioning device of the target receiving remote control device.

[0030] In a second aspect of the present application, a piezoelectric device is provided, and the piezoelectric method is applied, and the device comprises:

[0031] A request receiving module, configured to obtain a target shipping point location of the target shipping remote control device and a target receiving point location of the target receiving remote control device in response to a shipping request of the target shipping remote control device and a receiving request of the target receiving remote control device;

[0032] The module for determining the hoisting equipment to be dispatched is configured to determine the hoisting equipment whose hoisting range covers the target shipping point position and the target receiving point position as the hoisting equipment to be dispatched based on the target shipping point position, the target receiving point position and the positions of all hoisting equipment in the hoisting equipment group;

[0033] The target lifting equipment determination module is configured to determine the target lifting equipment according to the positional relationship between each lifting equipment to be dispatched and the target shipping point position and / or the target receiving point position when there are multiple lifting equipment to be dispatched.

[0034] In a third aspect of the present application, a server is provided, wherein the server includes the above-mentioned Paita device.

[0035] In a fourth aspect of the present application, a Pita control system is provided, comprising:

[0036] The above-mentioned server, at least one lifting device, at least one shipping remote control device and at least one receiving remote control device;

[0037] The hoisting equipment, the shipping remote control equipment and the receiving remote control equipment are respectively connected to the server for communication.

[0038] After receiving the shipping request and receiving request from the shipping remote control device and the receiving remote control device, the present invention determines the lifting equipment whose lifting range covers the shipping point position and the receiving point position as the lifting equipment to be dispatched through the obtained shipping point position and the receiving point position, and when there are multiple lifting equipment to be dispatched, determines the target lifting equipment according to the positional relationship between each lifting equipment to be dispatched and the shipping point position and / or the receiving point position, thereby realizing intelligent tower dispatch control of each tower crane in the group tower operation scenario, effectively improving the operation efficiency and lifting safety of the unmanned tower crane in the group tower operation scenario.

[0039] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0041] Figure 1 is a method flow chart of the Paita method provided by a preferred embodiment of the present invention;

[0042] Figure 2 It is a schematic diagram of Paita communication provided by a preferred embodiment of the present invention;

[0043] Figure 3 It is a communication schematic diagram between the remote control device and the hoisting device provided in the preferred embodiment of the present invention;

[0044] Figure 4 It is a schematic diagram of a pie tower based on equipment height provided in a preferred embodiment of the present invention;

[0045] Figure 5 It is another schematic diagram of a pie tower based on equipment height provided in a preferred embodiment of the present invention;

[0046] Figure 6 It is a schematic diagram of a pie tower based on the distance from a receiving point provided in a preferred embodiment of the present invention;

[0047] Figure 7 It is a schematic diagram of a pie tower based on a spatial itinerary of a shipping point location and a receiving point location provided in a preferred embodiment of the present invention;

[0048] Figure 8 This is a schematic diagram of active avoidance of an idle tower crane provided in a preferred embodiment of the present invention;

[0049] Fig. 9 It is a schematic block diagram of a Paita device provided in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0050] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0051] like Figure 1 As shown, in a first aspect of this embodiment, a Paita method is provided, which is applied to a server, and the method includes:

[0052] S100, in response to a shipping request of a target shipping remote control device and a receiving request of a target receiving remote control device, obtaining a target shipping point location of the target shipping remote control device and a target receiving point location of the target receiving remote control device;

[0053] S200, based on the target shipping point location, the target receiving point location, and the locations of all the lifting equipment in the lifting equipment group, determine the lifting equipment whose lifting range covers the target shipping point location and the target receiving point location as the lifting equipment to be dispatched;

[0054] S300: When there are multiple lifting equipments to be dispatched, determine the target lifting equipment according to the positional relationship between each lifting equipment to be dispatched and the target shipping point and / or the target receiving point.

[0055] In this way, after receiving the shipping request and receiving request from the shipping remote control device and the receiving remote control device, the present invention determines the lifting equipment whose lifting range covers the shipping point position and the receiving point position through the acquired shipping point position and the receiving point position as the lifting equipment to be dispatched, and when there are multiple lifting equipment to be dispatched, determines the target lifting equipment according to the positional relationship between each lifting equipment to be dispatched and the shipping point position and / or the receiving point position, thereby realizing intelligent tower dispatch control of each tower crane in the group tower operation scenario, effectively improving the operation efficiency and lifting safety of the unmanned tower crane in the group tower operation scenario.

[0056] It is understandable that before step S100, the present application also predetermines the target shipping remote control device and the target receiving remote control device. Specifically, the steps of determining the target shipping remote control device and the target receiving remote control device include: receiving a shipping request from at least one shipping remote control device and a receiving request from at least one receiving remote control device. It is understandable that in a group tower operation scenario, there may be multiple shipping requests and multiple receiving requests at the same time. The shipping end staff can send a shipping request to the server through the shipping remote control device, and the receiving end staff can send a receiving request to the server through the receiving remote control device; in the case where it is determined based on the received shipping request and receiving request that both the shipping remote control device and the receiving remote control device are single, for example, when there is only one shipping request and one receiving request, the current shipping remote control device can be directly determined as the target shipping remote control device, and the current receiving remote control device can be determined as the target receiving remote control device; in the case where it is determined based on the received shipping request and receiving request that the receiving remote control device is single and there are multiple shipping remote control devices, for example, When there are multiple shipping requests but only one receiving request in the same time period, the server obtains the request time of the shipping requests received from each shipping remote control device, and determines the shipping remote control device with the earliest request time as the target shipping remote control device, and determines the current receiving remote control device as the target receiving remote control device. For example, in the same time period, the server simultaneously receives shipping request 1 and shipping request 2 from different shipping remote control devices, as well as a receiving request from the receiving remote control device. The server determines the shipping remote control device corresponding to the shipping request with an earlier sending time as the target shipping remote control device according to the sequence of sending times of shipping request 1 and shipping request 2, and determines the current receiving remote control device as the target receiving remote control device.

[0057] In addition, if the server determines that there are multiple shipping remote control devices and receiving remote control devices based on the received shipping request and receiving request, the server sends first interactive information to each shipping remote control device and each receiving remote control device to confirm the lifting equipment. For example, the first interactive information may include the number or position of each lifting equipment, that is, the tower crane; at the same time, the server receives second interactive information returned by each shipping remote control device and each receiving remote control device based on the first interactive information, wherein the second interactive information includes the equipment information of the lifting equipment confirmed by the shipping remote control device or the receiving remote control device. For example, the second interactive information may be the tower crane number or tower crane position selected by the shipping end staff through the shipping remote control device, or the tower crane number or tower crane position selected by the receiving end staff through the receiving remote control device; the shipping remote control device and the receiving remote control device with the same equipment information in the second interactive information are determined as the target shipping remote control device and the target receiving remote control device. For example, the server simultaneously receives the shipping remote control The server receives the shipping request of the shipping remote control device 1 and the shipping remote control device 2, and the receiving request of the receiving remote control device 1 and the receiving remote control device 2, then the server returns the location information of each tower crane to each shipping remote control device and the receiving remote control device and receives the selection results returned by each remote control device. For example, the selection result returned by the shipping remote control device 1 is tower crane 1, the selection result returned by the shipping remote control device 2 is tower crane 2, the selection result returned by the receiving remote control device 1 is tower crane 1, and the selection result returned by the receiving remote control device 2 is tower crane 2. Then the server determines that the shipping remote control device 1 and the receiving remote control device 1 are a group of target shipping remote control device and target receiving remote control device, and the shipping remote control device 2 and the receiving remote control device 2 are a group of target shipping remote control device and target receiving remote control device. The server determines the target shipping remote control device or the target receiving remote control device according to the selection results returned by each remote control device, and determines the target lifting equipment corresponding to the target shipping remote control device and the target receiving remote control device through steps S100 to S300. It is understandable that the number or location information of each tower crane can be pre-stored in the server. For example, a coordinate system is pre-established based on the target construction site to determine the coordinates of each tower crane in the target construction site, and the coordinates of each tower crane are used as the location information of each tower crane.

[0058] In step S100, the target shipping point position of the target shipping remote control device and the target receiving point position of the target receiving remote control device are obtained, including: receiving the target shipping point position and the target receiving point position input by the user through the first data interface; or obtaining the target shipping point position from the positioning device of the target shipping remote control device and the target receiving point position from the positioning device of the target receiving remote control device through the second data interface. It can be understood that the shipping remote control device and the receiving remote control device are both provided with positioning devices, and the target shipping point position and the target receiving point position can be obtained through the positioning devices of the target shipping remote control device and the target receiving remote control device, and the obtained target shipping point position and the target receiving point position can be sent to the server when sending the shipping request, or can be manually input by the server side when the target shipping point position and the target receiving point position are predetermined.

[0059] In step S200, after receiving the target shipping point location and the target receiving point location, the server judges the target shipping point location and the target receiving point location according to the location of each tower crane and the lifting range of each tower crane. If the target shipping point location and the target receiving point location can both be covered by the lifting range of the same tower crane, the tower crane is determined to be the lifting equipment to be dispatched.

[0060] In step S300, after determining the target lifting device according to the positional relationship between each lifting device to be dispatched and the target shipping point location and / or the target receiving point location, the server allocates the control authority of the target lifting device to the target shipping remote control device and the target receiving remote control device. Figure 2 As shown, the server sends the communication address of the target hoisting device to the corresponding target shipping remote control device and target receiving remote control device through wireless communication. The target shipping remote control device and the target receiving remote control device can access and match the target hoisting device through the communication address of the target hoisting device. When the target hoisting device determines that the target shipping remote control device and the target receiving remote control device have control authority over the target hoisting device, the target shipping remote control device and the target receiving remote control device can successfully match with the target hoisting device. Figure 3 As shown, after each remote control device is successfully paired with the corresponding tower crane, the shipping remote control device and the receiving remote control device can directly control the shipping and receiving operations of the tower crane without the need for transfer through the server.

[0061] In the present application, when there is a single hoisting device to be dispatched, the hoisting device to be dispatched, i.e., the target hoisting device, can be directly determined. When there are multiple hoisting devices to be dispatched, the server determines the target hoisting device according to the positional relationship between each hoisting device to be dispatched and the target shipping point position and the target receiving point position. In step S300, when there are multiple hoisting devices to be dispatched, the method further includes: receiving the device status of each hoisting device to be dispatched, and determining the target hoisting device according to the device status of each hoisting device to be dispatched, wherein the device status includes whether the hoisting device is in a running state or an idle state. It can be understood that each hoisting device will send its latest device status to the server. For example, when the current hoisting device receives the control signal of the shipping remote control device or the receiving remote control device to start the shipping or receiving operation, the current hoisting device will update its own device status to a running state, and send the updated device status to the server via wireless or wired communication. In this way, the server can obtain the real-time device status of all hoisting devices.

[0062] Then, the target lifting equipment is determined according to the equipment status of each lifting equipment to be dispatched, including: first obtaining the equipment status of each lifting equipment to be dispatched, that is, determining whether each lifting equipment is currently in operation or idle state; then judging the number of idle state equipment, that is, when there is only one lifting equipment to be dispatched with an idle state, determining the lifting equipment to be dispatched with an idle state as the target lifting equipment, for example, if both tower crane 1 and tower crane 2 can hoist the goods from the target shipping point to the target receiving point, if tower crane 1 is idle and tower crane 2 is in operation, then tower crane 1 is assigned to the target shipping remote control equipment and the target receiving remote control equipment; when there are multiple lifting equipment to be dispatched with an idle state, the target lifting equipment can be determined according to the positional relationship between each lifting equipment to be dispatched with an idle state and the target shipping point and / or the target receiving point. It can be understood that if all tower cranes are currently in operation, the tower dispatch instruction will not be executed temporarily, and the tower dispatch instruction will be executed after the tower cranes are idle.

[0063] Furthermore, in the case that there are multiple lifting equipment to be dispatched whose equipment status is idle, the method of the present application also includes receiving the equipment height of each lifting equipment to be dispatched, and determining the target lifting equipment according to the equipment height of each lifting equipment to be dispatched. Among them, determining the target lifting equipment according to the equipment height of each lifting equipment to be dispatched includes: obtaining the equipment height of each lifting equipment to be dispatched, and when there is a single lifting equipment to be dispatched with the lowest equipment height, determining the lifting equipment to be dispatched with the lowest equipment height as the target lifting equipment; when there are multiple lifting equipment to be dispatched with the lowest equipment height, determining the target lifting equipment according to the positional relationship between each lifting equipment to be dispatched with the lowest equipment height and the target shipping point location and / or the target receiving point location. Specifically, the equipment height of each lifting equipment can be pre-stored in the server. If it is determined that there are multiple lifting equipment to be dispatched whose equipment status is idle, such as Figure 4 As shown, taking the case where the equipment to be dispatched in the idle state includes tower crane 1 and tower crane 2 as an example, the equipment height of tower crane 1 and the equipment height of tower crane 2 are first obtained. If the equipment height of tower crane 1 is lower than the equipment height of tower crane 2, tower crane 1 is determined to be the target hoisting equipment; or Figure 5 As shown, if the equipment to be dispatched in the idle state includes tower crane 1, tower crane 2 and tower crane 3, if the equipment height of tower crane 1 and tower crane 3 is lower than that of tower crane 2, and the equipment height of tower crane 1 and tower crane 3 is the same, then tower crane 1 or tower crane 3 is further determined as the target hoisting equipment according to the position relationship between tower crane 1 and the target delivery point position and / or the target receiving point position, and the position relationship between tower crane 3 and the target delivery point position and / or the target receiving point position. That is, when executing the tower dispatching strategy, the present application gives priority to assigning tower cranes with lower heights, so that tower cranes can be assigned more reasonably to avoid waste of resources.

[0064] Furthermore, in the present application, the target hoisting equipment is determined based on the positional relationship between each hoisting equipment to be dispatched and the target shipping point and / or the target receiving point, including: determining the distance between each hoisting equipment to be dispatched and the target receiving point based on the hoisting equipment position of each hoisting equipment to be dispatched, and determining the hoisting equipment to be dispatched that is closest to the target receiving point as the target hoisting equipment. Figure 6 As shown, taking the to-be-dispatched lifting equipment including tower crane 1 and tower crane 2 in the idle state as an example, firstly, the distance H1 between tower crane 1 and the target receiving point is determined according to the position of tower crane 1, and the distance H2 between tower crane 2 and the target receiving point is determined according to the position of tower crane 2, and then the distance H1 between tower crane 1 and the target receiving point is compared with the distance H2 between tower crane 2 and the target receiving point. If H1<H2, tower crane 1 is determined as the target lifting equipment.

[0065] Furthermore, in the present application, determining the target hoisting equipment according to the positional relationship between each hoisting equipment to be dispatched and the target shipping point position and / or the target receiving point position may also include: determining a first distance between the hoisting equipment position of each hoisting equipment to be dispatched and the target shipping point position, and determining a second distance between the hoisting equipment position of each hoisting equipment to be dispatched and the target receiving point position, and determining the hoisting equipment to be dispatched with the smallest sum of the first distance and the second distance among the hoisting equipment to be dispatched as the target hoisting equipment. For example, Figure 7 As shown, taking the to-be-dispatched hoisting equipment including tower crane 1 and tower crane 2 in the idle state as an example, firstly, the first distance h1 between tower crane 1 and the target shipping point is determined according to the position of tower crane 1, the first distance h2 between tower crane 2 and the target shipping point is determined according to the position of tower crane 2, the second distance h3 between tower crane 1 and the target receiving point is determined according to the position of tower crane 1, and the second distance h4 between tower crane 2 and the target receiving point is determined according to the position of tower crane 2. The spatial travel H1 of tower crane 1 from the target shipping point position to the target receiving point position and the spatial travel H2 of tower crane 2 from the target shipping point position to the target receiving point position are calculated respectively, wherein H1=h1+h3, H2=h2+h4, and the sizes of H1 and H2 are compared. If H1>H2, tower crane 2 is determined as the target hoisting equipment. If H1<H2, tower crane 1 is determined as the target hoisting equipment. If H1=H2, tower crane 1 or tower crane 2 is randomly determined as the target hoisting equipment. In this way, the tower crane with the shortest spatial travel distance from the target shipping point and the target receiving point is used as the target lifting equipment, which can effectively reduce energy waste.

[0066] In this application, after determining the target hoisting equipment, the server also sends the target shipping point position and the target receiving point position to the hoisting equipment. The hoisting equipment receives the target shipping point position and the target receiving point position from the server, and controls the hoisting mechanism of the current hoisting equipment to reach the initial shipping position according to the target shipping point position. The initial shipping position is any position within the first hoisting range that the hoisting mechanism of the current hoisting equipment can cover the target shipping point position, that is, the initial shipping position is an initial range that can cover the target shipping point position. For the target shipping remote control equipment, when it is determined that the server assigns the control authority of the target hoisting equipment to the current shipping remote control equipment, a shipping control instruction is sent to the target hoisting equipment. The hoisting equipment receives the shipping control instruction from the target shipping remote control equipment, and when it is determined that the target shipping remote control equipment has the control authority over the current hoisting equipment, the hoisting mechanism of the current hoisting equipment is controlled to reach the target shipping point position to hoist the goods. The shipping remote control equipment can send a shipping task end request to the target hoisting equipment when the shipping task is completed to release the control authority over the target hoisting equipment. It can be understood that the hoisting mechanism of the hoisting equipment is the hook and / or boom of the tower crane.

[0067] After the target lifting device completes the lifting of the goods, before controlling the lifting mechanism of the current lifting device to reach the target receiving point, first control the lifting mechanism of the current lifting device to reach the initial receiving position, the initial receiving position is any position within the second lifting range that the lifting mechanism of the current lifting device can cover the target receiving point, that is, the initial receiving position is an initial range that can cover the target receiving point. For the target receiving remote control device, when it is determined that the server assigns the control authority of the target lifting device to the current receiving remote control device, send a receiving control instruction to the target lifting device to control the lifting mechanism of the target lifting device to reach the target receiving point, the lifting device receives the receiving control instruction from the target receiving remote control device, and when it is determined that the target receiving remote control device has the control authority over the current lifting device, control the lifting mechanism of the current lifting device to reach the target receiving point, and the receiving remote control device can send a receiving task end request to the target lifting device when the receiving task is completed to release the control authority over the target lifting device.

[0068] Among them, the lifting equipment also transmits its own equipment status to each other. For example, before the lifting equipment performs the delivery operation process, the current lifting equipment receives the current equipment status from the adjacent lifting equipment, wherein the lifting range of the adjacent lifting equipment has an overlapping area with the lifting range of the current lifting equipment, and the equipment status includes whether the lifting equipment is in operation or idle state. Figure 8 As shown, when the current equipment state of the adjacent lifting equipment is in the operating state, the lifting mechanism of the current lifting equipment is controlled to move outside the lifting range of the adjacent lifting equipment, and the current lifting equipment is controlled to enter the waiting state until the current equipment state of the adjacent lifting equipment is updated to the idle state, thereby avoiding the adjacent lifting equipment.

[0069] When the current device status of the adjacent lifting device is updated to an idle state, the current lifting device, after determining that the current target delivery remote control device has the control authority over the current lifting device, sends the device status of the current lifting device in operation to the adjacent lifting device and the server, responds to the instruction of the target delivery remote control device to perform the delivery operation; and when determining that the server has recovered the control authority of the target delivery remote control device and the target receiving remote control device over the current lifting device, sends the device status of the current lifting device in idle state to the adjacent lifting device and the server. In this way, the lifting device can avoid based on the device status of the adjacent lifting device by updating its own device status in real time, effectively improving the safety of the lifting process.

[0070] like Fig. 9 As shown, in a second aspect of the present application, a tower-piercing device is provided, and the tower-piercing method is applied, and the device includes:

[0071] A request receiving module is configured to obtain a target shipping point location of the target shipping remote control device and a target receiving point location of the target receiving remote control device in response to a shipping request of the target shipping remote control device and a receiving request of the target receiving remote control device;

[0072] The module for determining the hoisting equipment to be dispatched is configured to determine the hoisting equipment whose hoisting range covers the target shipping point position and the target receiving point position as the hoisting equipment to be dispatched based on the target shipping point position, the target receiving point position and the positions of all hoisting equipment in the hoisting equipment group;

[0073] The target lifting equipment determination module is configured to determine the target lifting equipment according to the positional relationship between each lifting equipment to be dispatched and the target shipping point location and / or the target receiving point location when there are multiple lifting equipment to be dispatched.

[0074] Optionally, after determining the target lifting equipment according to the positional relationship between each lifting equipment to be dispatched and the target shipping point position and / or the target receiving point position, the device further includes:

[0075] The authority allocation module is configured to allocate the control authority of the target lifting equipment to the target shipping remote control device and the target receiving remote control device.

[0076] Optionally, the device also includes an equipment status acquisition module, which is configured to receive the equipment status of each lifting equipment to be dispatched when there are multiple lifting equipment to be dispatched, and determine the target lifting equipment according to the equipment status of each lifting equipment to be dispatched, the equipment status including whether the lifting equipment is in an operating state or an idle state; wherein, determining the target lifting equipment according to the equipment status of each lifting equipment to be dispatched includes: acquiring the equipment status of each lifting equipment to be dispatched; when there is a single lifting equipment to be dispatched whose equipment status is an idle state, determining the lifting equipment to be dispatched whose equipment status is an idle state as the target lifting equipment; when there are multiple lifting equipment to be dispatched whose equipment status is an idle state, determining the target lifting equipment according to the positional relationship between each lifting equipment to be dispatched whose equipment status is an idle state and the target shipping point location and / or the target receiving point location.

[0077] Optionally, the device also includes an equipment height acquisition module, which is configured to receive the equipment height of each lifting equipment to be dispatched when there are multiple lifting equipment to be dispatched with an idle equipment status, and determine the target lifting equipment based on the equipment height of each lifting equipment to be dispatched; determine the target lifting equipment based on the equipment height of each lifting equipment to be dispatched, including: obtaining the equipment height of each lifting equipment to be dispatched, and when there is only one lifting equipment to be dispatched with the lowest equipment height, determining the lifting equipment to be dispatched with the lowest equipment height as the target lifting equipment; when there are multiple lifting equipment to be dispatched with the lowest equipment height, determining the target lifting equipment based on the positional relationship between each lifting equipment to be dispatched with the lowest equipment height and the target shipping point location and / or the target receiving point location.

[0078] Optionally, the target lifting equipment is determined based on the positional relationship between each lifting equipment to be dispatched and the target shipping point location and / or the target receiving point location, including: determining the distance between each lifting equipment to be dispatched and the target receiving point location based on the lifting equipment position of each lifting equipment to be dispatched; and determining the lifting equipment to be dispatched that is closest to the target receiving point location as the target lifting equipment.

[0079] Optionally, the target lifting equipment is determined based on the positional relationship between each lifting equipment to be dispatched and the target shipping point location and / or the target receiving point location, including: determining a first distance between the lifting equipment position of each lifting equipment to be dispatched and the target shipping point location, and determining a second distance between the lifting equipment position of each lifting equipment to be dispatched and the target receiving point location; determining the lifting equipment to be dispatched with the smallest sum of the first distance and the second distance among the lifting equipment to be dispatched as the target lifting equipment.

[0080] Optionally, obtaining the target shipping point position of the target shipping remote control device and the target receiving point position of the target receiving remote control device includes: receiving the target shipping point position and the target receiving point position input by the user through a first data interface; or obtaining the target shipping point position from the positioning device of the target shipping remote control device through a second data interface, and obtaining the target receiving point position from the positioning device of the target receiving remote control device.

[0081] It is understandable that the technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0082] In a third aspect of the present application, a server is provided, and the server includes the above-mentioned Paita device.

[0083] In a fourth aspect of the present application, a PTA control system is provided, comprising: a server as described above, at least one hoisting device, at least one shipping remote control device and at least one receiving remote control device; the hoisting device, the shipping remote control device and the receiving remote control device are respectively connected to the server in communication. The server may be a local server or a cloud server, and the server and the hoisting device are connected via wired or wireless communication. After the server assigns the control authority of the corresponding hoisting device to the shipping remote control device and / or the receiving remote control device, the shipping remote control device and / or the receiving remote control device are connected to the corresponding hoisting device in communication via wireless communication.

[0084] In summary, the tower dispatching algorithm of the present application can intelligently assign the optimal tower crane according to the location of the shipping point and the receiving point, and can actively avoid collisions between tower cranes and tower cranes, and between tower cranes and obstacles, and can intelligently control idle tower cranes to make way for lifting tower cranes, effectively improving the operating efficiency of unmanned tower cranes and ensuring the safety of unmanned lifting.

[0085] The optional embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the above embodiments. Within the technical concept of the embodiments of the present invention, a variety of simple modifications can be made to the technical solutions of the embodiments of the present invention, and these simple modifications all belong to the protection scope of the embodiments of the present invention.

[0086] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the embodiments of the present invention will not further describe various possible combinations.

[0087] In addition, various embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the embodiments of the present invention, they should also be regarded as the contents disclosed in the embodiments of the present invention.

Claims

1. A Paita method, applied to a server, characterized in that: The method comprises: In response to a shipping request of a target shipping remote control device and a receiving request of a target receiving remote control device, obtaining a target shipping point location of the target shipping remote control device and a target receiving point location of the target receiving remote control device; Based on the target shipping point location, the target receiving point location, and the locations of all the lifting equipment in the lifting equipment group, determining the lifting equipment whose lifting range covers the target shipping point location and the target receiving point location as the lifting equipment to be dispatched; In the case that there are multiple lifting equipments to be dispatched, the target lifting equipment is determined according to the positional relationship between each lifting equipment to be dispatched and the position of the target shipping point and / or the position of the target receiving point.

2. The Paita method according to claim 1, characterized in that: After determining that the lifting equipment whose lifting range covers the target shipping point location and the target receiving point location is the lifting equipment to be dispatched, the method further includes: In the case that there is only one lifting equipment to be dispatched, the lifting equipment to be dispatched is determined to be the target lifting equipment.

3. The Paita method according to claim 1, characterized in that: After determining the target lifting equipment according to the positional relationship between each lifting equipment to be dispatched and the target shipping point position and / or the target receiving point position, the method further includes: The control authority of the target lifting equipment is allocated to the target shipping remote control equipment and the target receiving remote control equipment.

4. The Paita method according to claim 1, characterized in that: In the case where there are multiple lifting equipment to be dispatched, the method further includes receiving the equipment status of each lifting equipment to be dispatched, and determining the target lifting equipment according to the equipment status of each lifting equipment to be dispatched, wherein the equipment status includes whether the lifting equipment is in a running state or an idle state; Determine the target lifting equipment based on the equipment status of each lifting equipment to be dispatched, including: Obtain the equipment status of each lifting equipment to be dispatched; In the case that the number of the to-be-dispatched hoisting equipment in the idle state is single, determining the to-be-dispatched hoisting equipment in the idle state as the target hoisting equipment; When there are multiple lifting equipment to be dispatched whose equipment status is idle, the target lifting equipment is determined according to the positional relationship between each lifting equipment to be dispatched whose equipment status is idle and the target shipping point location and / or the target receiving point location.

5. The Paita method according to claim 4, characterized in that: In the case that there are multiple hoisting devices to be dispatched whose equipment status is idle, the method further includes receiving the equipment height of each hoisting device to be dispatched, and determining the target hoisting device according to the equipment height of each hoisting device to be dispatched; Determine the target lifting equipment according to the equipment height of each lifting equipment to be dispatched, including: The equipment height of each hoisting equipment to be dispatched is obtained, and when the hoisting equipment to be dispatched with the lowest equipment height is a single unit, the hoisting equipment to be dispatched with the lowest equipment height is determined as the target hoisting equipment; When there are multiple lifting equipments with the lowest equipment height to be dispatched, the target lifting equipment is determined according to the positional relationship between each lifting equipment with the lowest equipment height to be dispatched and the target shipping point position and / or the target receiving point position.

6. The Paita method according to claim 1, 4 or 5, characterized in that: Determining the target lifting equipment according to the positional relationship between each lifting equipment to be dispatched and the target shipping point location and / or the target receiving point location includes: Determine the distance between each of the to-be-dispatched hoisting equipment and the target receiving point location according to the hoisting equipment location of each of the to-be-dispatched hoisting equipment; The to-be-dispatched lifting equipment that is closest to the target delivery point is determined as the target lifting equipment.

7. The Paita method according to claim 1, 4 or 5, characterized in that: Determining the target lifting equipment according to the positional relationship between each lifting equipment to be dispatched and the target shipping point location and / or the target receiving point location includes: Determine a first distance between the lifting equipment position of each lifting equipment to be dispatched and the target delivery point position, and determine a second distance between the lifting equipment position of each lifting equipment to be dispatched and the target delivery point position; The lifting equipment to be dispatched with the smallest sum of the first distance and the second distance among all the lifting equipment to be dispatched is determined as the target lifting equipment.

8. The Paita method according to claim 1 or 2, characterized in that: Obtaining the target shipping point location of the target shipping remote control device and the target receiving point location of the target receiving remote control device includes: Receiving the target shipping point location and the target receiving point location input by the user through the first data interface; or Through the second data interface, the target shipping point location is obtained from the positioning device of the target shipping remote control device, and the target receiving point location is obtained from the positioning device of the target receiving remote control device.

9. A piezoelectric device, using the piezoelectric method according to any one of claims 1 to 8, characterized in that: The device comprises: A request receiving module, configured to obtain a target shipping point location of the target shipping remote control device and a target receiving point location of the target receiving remote control device in response to a shipping request of the target shipping remote control device and a receiving request of the target receiving remote control device; The module for determining the hoisting equipment to be dispatched is configured to determine the hoisting equipment whose hoisting range covers the target shipping point position and the target receiving point position as the hoisting equipment to be dispatched based on the target shipping point position, the target receiving point position and the positions of all hoisting equipment in the hoisting equipment group; The target lifting equipment determination module is configured to determine the target lifting equipment according to the positional relationship between each lifting equipment to be dispatched and the target shipping point position and / or the target receiving point position when there are multiple lifting equipment to be dispatched.

10. A server, characterized in that: The server comprises the Paita device as claimed in claim 9.

11. A Pitta control system, characterized in that: include: The server according to claim 10, at least one lifting device, at least one shipping remote control device and at least one receiving remote control device; The hoisting equipment, the shipping remote control equipment and the receiving remote control equipment are respectively connected to the server for communication.

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