Pita method, pita device, server and pita control system

Abstract

The embodiment of the application provides a pita method, a pita device, a server and a pita 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 a target delivery remote control device and a collection request of a target collection remote control device, obtaining a target delivery point position of the target delivery remote control device and a target collection point position of the target collection remote control device; based on the target delivery point position, the target collection point position and the positions of all hoisting devices in a hoisting device group, determining hoisting devices covering the target delivery point position and the target collection point position in a hoisting range as to-be-delivered hoisting devices; in the case that the to-be-delivered hoisting devices are multiple, determining a target hoisting device according to the positional relationship between each to-be-delivered hoisting device and the target delivery point position and / or the target collection point position. The application effectively improves the operation efficiency and hoisting safety of unmanned tower cranes in a group tower operation scene.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology for engineering machinery, specifically to a tower control method, a tower control device, a server, and a tower control system. Background Technology

[0002] Currently, unmanned tower cranes are used in construction sites. Since there are no operators on these cranes, when multiple unmanned tower cranes are operating simultaneously on a construction site, scheduling is necessary to achieve coordinated operation. Existing unmanned tower crane control methods are only applicable to the operation of a single crane and cannot be used for multi-crane operations. They also lack tower crane dispatch control. Therefore, existing methods cannot dispatch the optimal tower crane based on the delivery and receiving locations to perform lifting operations, thus failing to ensure the operational efficiency and safety of unmanned tower cranes. Summary of the Invention

[0003] The purpose of this 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 schedule and control tower dispatching operations.

[0004] To achieve the above objectives, in a first aspect of the present invention, a Pitta method is provided, applied to a server, the method comprising:

[0005] In response to the shipment request of the target shipping remote control device and the receipt request of the target receiving remote control device, the target shipment point location of the target shipping remote control device and the target receipt point location of the target receiving remote control device are obtained.

[0006] Based on the target delivery point location, the target receiving point location, and the locations of all lifting equipment in the lifting equipment group, the lifting equipment whose lifting range covers both the target delivery point location and the target receiving point location is identified as the lifting equipment to be dispatched.

[0007] When there are multiple hoisting devices to be dispatched, the target hoisting device is determined based on the positional relationship between each hoisting device to be dispatched and the target delivery point and / or the target receiving point.

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

[0009] If there is only one hoisting device to be dispatched, then that hoisting device is identified as the target hoisting device.

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

[0011] The control authority of the target hoisting equipment is assigned to the target delivery remote control equipment and the target receiving remote control equipment.

[0012] Optionally, when there are multiple hoisting devices to be dispatched, the method further includes receiving the equipment status of each hoisting device to be dispatched, and determining the target hoisting device based on the equipment status of each hoisting device to be dispatched, wherein the equipment status includes whether the hoisting device is in operation or idle.

[0013] The target lifting equipment is determined based on the equipment status of each piece of equipment to be dispatched, including:

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

[0015] If there is only one hoisting device in the idle state, then the hoisting device in the idle state is determined as the target hoisting device.

[0016] When there are multiple hoisting devices in an idle state, the target hoisting device is determined based on the positional relationship between each idle hoisting device and the target shipping point and / or the target receiving point.

[0017] Optionally, if there are multiple hoisting devices in an idle state, the method further includes receiving the height of each hoisting device to be dispatched and determining the target hoisting device based on the height of each hoisting device to be dispatched.

[0018] The target lifting equipment is determined based on the height of each piece of equipment to be lifted, including:

[0019] Obtain the equipment height of each hoisting device to be dispatched. When the hoisting device with the lowest equipment height is a single unit, determine the hoisting device with the lowest equipment height as the target hoisting device.

[0020] When there are multiple hoisting devices with the lowest equipment height to be dispatched, the target hoisting device is determined based on the positional relationship between each hoisting device with the lowest equipment height and the target delivery point and / or the target receiving point.

[0021] Optionally, the target hoisting equipment is determined based on the positional relationship between each hoisting equipment to be dispatched and the target delivery point and / or the target receiving point, including:

[0022] The distance between each piece of equipment to be dispatched and the target receiving point is determined based on the location of the equipment to be dispatched.

[0023] The hoisting equipment to be dispatched that is closest to the target receiving point is identified as the target hoisting equipment.

[0024] Optionally, the target hoisting equipment is determined based on the positional relationship between each hoisting equipment to be dispatched and the target delivery point and / or the target receiving point, including:

[0025] Determine a first distance between the location of the hoisting equipment for each piece of hoisting equipment to be dispatched and the location of the target delivery point, and determine a second distance between the location of the hoisting equipment for each piece of hoisting equipment to be dispatched and the location of the target receiving point;

[0026] The hoisting equipment with the smallest sum of the first distance and the second distance among all the hoisting equipment to be dispatched is identified as the target hoisting 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] The system receives the target shipping point location and the target receiving point location input by the user through the first data interface; or

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

[0030] A second aspect of this application provides a piezoelectric apparatus that applies the above-described piezoelectric method, the apparatus comprising:

[0031] The request receiving module is configured to, in response to the shipment request of the target shipping remote control device and the receipt request of the target receiving remote control device, obtain the target shipment point location of the target shipping remote control device and the target receipt point location of the target receiving remote control device.

[0032] The module for determining lifting equipment to be dispatched is configured to determine lifting equipment whose lifting range covers both the target shipping point location and the target receiving point location as lifting equipment to be dispatched, based on the target shipping point location, the target receiving point location, and the locations of all lifting equipment in the lifting equipment group.

[0033] The target hoisting equipment determination module is configured to determine the target hoisting equipment based on the positional relationship between each hoisting equipment to be dispatched and the target delivery point and / or the target receiving point when there are multiple hoisting equipment to be dispatched.

[0034] In a third aspect, this application provides a server that includes the aforementioned petabyte device.

[0035] A fourth aspect of this application provides a Pitot control system, comprising:

[0036] Such as the server mentioned above, at least one hoisting device, at least one delivery remote control device, and at least one receiving remote control device;

[0037] The hoisting equipment, the delivery remote control equipment, and the receiving remote control equipment are all connected to the server.

[0038] This invention, upon receiving delivery and receipt requests from the delivery and receipt remote control devices, determines the lifting equipment covering the delivery and receipt points as the equipment to be dispatched. Furthermore, when there are multiple equipment to be dispatched, the target equipment is determined based on the positional relationship between each equipment and the delivery and / or receipt points. This enables intelligent dispatch control of tower cranes in multi-tower operation scenarios, effectively improving the operational efficiency and lifting safety of unmanned tower cranes in such scenarios.

[0039] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0040] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0041] Figure 1 This is a flowchart of the Pitta method provided by a preferred embodiment of the present invention;

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

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

[0044] Figure 4 This is a schematic diagram of a Pitot tower based on equipment height provided by a preferred embodiment of the present invention;

[0045] Figure 5 This is another schematic diagram of a Pitot based on equipment height provided by a preferred embodiment of the present invention;

[0046] Figure 6 This is a schematic diagram of a Pitta based on the distance to the receiving point provided by a preferred embodiment of the present invention;

[0047] Figure 7 This is a schematic diagram of a Pitot based on the spatial travel of the shipping point and the receiving point, provided by a preferred embodiment of the present invention.

[0048] Figure 8 This is a schematic diagram of an idle tower crane actively avoiding obstacles provided by a preferred embodiment of the present invention;

[0049] Figure 9 This is a schematic block diagram of a Pitot apparatus provided in a preferred embodiment of the present invention. Detailed Implementation

[0050] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

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

[0052] S100: In response to the shipment request of the target shipment remote control device and the receipt request of the target receipt remote control device, obtain the target shipment point location of the target shipment remote control device and the target receipt point location of the target receipt remote control device.

[0053] S200. Based on the target delivery point location, the target receiving point location, and the location of all lifting equipment in the lifting equipment group, determine the lifting equipment whose lifting range covers the target delivery point location and the target receiving point location as the lifting equipment to be dispatched.

[0054] S300. When there are multiple hoisting devices to be dispatched, the target hoisting device shall be determined based on the positional relationship between each hoisting device to be dispatched and the target delivery point and / or the target receiving point.

[0055] Thus, this invention, upon receiving the delivery and receipt requests from the delivery and receipt remote control devices, determines the lifting equipment covering the delivery and receipt points as the lifting equipment to be dispatched based on the obtained delivery and receipt point locations. Furthermore, when there are multiple lifting equipment to be dispatched, the target lifting equipment is determined based on the positional relationship between each equipment and the delivery and / or receipt point locations. This enables intelligent tower crane dispatch control in multi-tower operation scenarios, effectively improving the operational efficiency and lifting safety of unmanned tower cranes in multi-tower operation scenarios.

[0056] Understandably, before step S100, this application also pre-determines the target shipping remote control device and the target receiving remote control device. Specifically, the steps for 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. Understandably, in a multi-tower operation scenario, there may be multiple shipping requests and multiple receiving requests simultaneously. Shipping personnel can send shipping requests to the server through the shipping remote control device, and receiving personnel can send receiving requests to the server through the receiving remote control device. When it is determined based on the received shipping and receiving requests that both the shipping and receiving remote control devices 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. When it is determined based on the received shipping and receiving requests that there is a single receiving remote control device and multiple shipping remote control devices, for example… When there are multiple shipping requests but only one receiving request within the same time period, the server obtains the request time of 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, within 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 a receiving remote control device. The server determines the shipping remote control device corresponding to the shipping request with the earlier sending time as the target shipping remote control device, and determines the current receiving remote control device as the target receiving remote control device, based on the order of sending times of shipping request 1 and shipping request 2.

[0057] Furthermore, if the server determines, based on the received shipping and receiving requests, that there are multiple shipping and receiving remote control devices, it sends first interactive information confirming the hoisting equipment to each shipping and receiving remote control device. For example, the first interactive information may include the number or location of each hoisting device, i.e., the tower crane. Simultaneously, the server receives second interactive information returned by each shipping and receiving remote control device based on the first interactive information. The second interactive information includes equipment information of the hoisting equipment confirmed by the shipping or receiving remote control device. For example, the second interactive information may be the tower crane number or location selected by the shipping personnel using the shipping remote control device, or the tower crane number or location selected by the receiving personnel using the receiving remote control device. The server then determines the shipping and receiving remote control devices with the same equipment information in the second interactive information as the target shipping and receiving remote control devices. For example, if the server simultaneously receives shipping remote control requests... If the server receives a delivery request from device 1 and delivery remote control device 2, and a receiving request from receiving remote control device 1 and receiving remote control device 2, then the server returns the location information of each tower crane to each delivery remote control device and receiving remote control device, and receives the selection results returned by each remote control device. For example, if the selection result returned by delivery remote control device 1 is tower crane 1, the selection result returned by delivery remote control device 2 is tower crane 2, the selection result returned by receiving remote control device 1 is tower crane 1, and the selection result returned by receiving remote control device 2 is tower crane 2, then the server determines that delivery remote control device 1 and receiving remote control device 1 are a set of target delivery remote control devices and target receiving remote control devices, and delivery remote control device 2 and receiving remote control device 2 are a set of target delivery remote control devices and target receiving remote control devices. The server determines the target delivery remote control device or the target receiving remote control device based on the selection results returned by each remote control device, and determines the target hoisting equipment corresponding to the target delivery remote control device and the target receiving remote control device through steps S100 to S300. Understandably, the number or location information of each tower crane can be stored in the server in advance. For example, a coordinate system can be established in advance based on the target construction site to determine the coordinates of each tower crane at the target construction site, and the coordinates of each tower crane can be used as the location information of each tower crane.

[0058] In step S100, 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 target receiving point location input by the user through a first data interface; or obtaining the target shipping point location from the positioning device of the target shipping remote control device and the target receiving point location from the positioning device of the target receiving remote control device through a second data interface. It is understood that both the shipping remote control device and the receiving remote control device are equipped with positioning devices. The target shipping point location and target receiving point location 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 location and target receiving point location are sent to the server when sending a shipping request. Alternatively, the target shipping point location and target receiving point location can be manually input by the server if they are predetermined.

[0059] In step S200, after the server receives the target shipping point location and the target receiving point location, it determines the target shipping point location and the target receiving point location based on 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, then the tower crane is determined to be the lifting equipment to be dispatched.

[0060] In step S300, after determining the target hoisting equipment based on the positional relationship between each hoisting device to be dispatched and the target shipping point and / or target receiving point, the server assigns control permissions for the target hoisting equipment to the target shipping remote control device and the target receiving remote control device. For example, as Figure 2 As shown, the server sends the communication address of the target hoisting equipment to the corresponding target shipping remote control device and target receiving remote control device via wireless communication. The target shipping remote control device and target receiving remote control device can access and match the target hoisting equipment through the target hoisting equipment's communication address. When the target hoisting equipment determines that the target shipping remote control device and target receiving remote control device have control authority over the target hoisting equipment, the target shipping remote control device and target receiving remote control device can be successfully matched with the target hoisting equipment. Figure 3 As shown, after each remote control device is successfully paired with the corresponding tower crane, the delivery remote control device and the receiving remote control device can directly control the tower crane to perform delivery and receiving operations without having to go through the server.

[0061] In this application, when there is only one hoisting device to be dispatched, the target hoisting device can be directly identified. When there are multiple hoisting devices to be dispatched, the server determines the target hoisting device based on the positional relationship between each hoisting device and the target shipping point and target receiving point. 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 based on the device status of each hoisting device to be dispatched. The device status includes whether the hoisting device is in an operating state or an idle state. It is understood that each hoisting device will send its latest device status to the server. For example, when the current hoisting device receives a control signal from the shipping remote control device or the receiving remote control device and begins to execute the shipping or receiving operation, the current hoisting device will update its device status to an operating state and send the updated device status to the server via wireless or wired communication. In this way, the server can know the real-time device status of all hoisting devices.

[0062] The target lifting equipment is determined based on the equipment status of each piece of equipment to be dispatched. This includes: first, obtaining the equipment status of each piece of equipment to be dispatched, i.e., determining whether each piece of equipment is currently in operation or idle; then, determining the number of idle pieces of equipment. For example, if only one piece of equipment is idle, then that piece of equipment is designated as the target lifting equipment. For instance, if both tower crane 1 and tower crane 2 can lift goods from the target shipping point to the target receiving point, and tower crane 1 is idle while tower crane 2 is in operation, then tower crane 1 is assigned to both the target shipping remote control and the target receiving remote control. If multiple pieces of equipment are idle, the target lifting equipment can be determined based on the positional relationship between each idle piece of equipment and the target shipping point and / or the target receiving point. It is understandable that if all tower cranes are currently in operation, the dispatch command will not be executed until the tower cranes become idle.

[0063] Furthermore, when there are multiple hoisting devices in an idle state awaiting dispatch, the method of this application further includes receiving the equipment height of each hoisting device awaiting dispatch and determining the target hoisting device based on the equipment height of each hoisting device awaiting dispatch. Specifically, determining the target hoisting device based on the equipment height of each hoisting device awaiting dispatch includes: obtaining the equipment height of each hoisting device awaiting dispatch; when the hoisting device with the lowest equipment height is a single device, determining the hoisting device with the lowest equipment height as the target hoisting device; when there are multiple hoisting devices with the lowest equipment height awaiting dispatch, determining the target hoisting device based on the positional relationship between each hoisting device with the lowest equipment height and the target shipping point and / or the target receiving point. Specifically, the equipment height of each hoisting device can be pre-stored in a server. If multiple hoisting devices are determined to be in an idle state awaiting dispatch, such as... Figure 4 As shown, taking tower crane 1 and tower crane 2 as examples where the equipment status is idle, the equipment heights of tower crane 1 and tower crane 2 are first obtained. If the equipment height of tower crane 1 is lower than that of tower crane 2, then tower crane 1 is determined as the target hoisting equipment; or, if... Figure 5 As shown, if the idle lifting equipment to be dispatched includes tower crane 1, tower crane 2, and tower crane 3, and if the equipment height of tower crane 1 and tower crane 3 is lower than that of tower crane 2, and the equipment heights of tower crane 1 and tower crane 3 are the same, then tower crane 1 or tower crane 3 is further determined as the target lifting equipment based on the positional relationship between tower crane 1 and the target delivery point and / or the target receiving point, and the positional relationship between tower crane 3 and the target delivery point and / or the target receiving point. That is, when implementing the tower crane dispatch strategy, this application prioritizes assigning tower cranes with lower heights, thereby enabling more reasonable tower crane assignment and avoiding resource waste.

[0064] Furthermore, in this application, determining the target lifting equipment based on the positional relationship between each lifting equipment to be dispatched and the target delivery point and / or target receiving point includes: determining the distance between each lifting equipment to be dispatched and the target receiving point 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 as the target lifting equipment. For example, such as Figure 6 As shown, taking tower crane 1 and tower crane 2 as examples of hoisting equipment in an idle state, firstly, the distance H1 between tower crane 1 and the target receiving point is determined based on the position of tower crane 1, and the distance H2 between tower crane 2 and the target receiving point is determined based on the position of tower crane 2. Then, the distances H1 and H2 between tower crane 1 and the target receiving point are compared. If H1 < H2, then tower crane 1 is determined to be the target hoisting equipment.

[0065] Furthermore, in this application, determining the target lifting equipment based on the positional relationship between each lifting equipment to be dispatched and the target shipping point and / or target receiving point may further include: determining a first distance between the lifting equipment position of each lifting equipment to be dispatched and the target shipping point, and determining a second distance between the lifting equipment position of each lifting equipment to be dispatched and the target receiving point, and determining the lifting equipment to be dispatched with the smallest sum of the first distance and the second distance as the target lifting equipment. For example, such as Figure 7 As shown, taking tower crane 1 and tower crane 2, which are idle and awaiting dispatch, as an example, firstly, the first distance h1 between tower crane 1 and the target delivery point is determined based on the position of tower crane 1; the first distance h2 between tower crane 2 and the target delivery point is determined based on the position of tower crane 2; the second distance h3 between tower crane 1 and the target receiving point is determined based on the position of tower crane 1; and the second distance h4 between tower crane 2 and the target receiving point is determined based on the position of tower crane 2. The spatial travel H1 from the target delivery point to the target receiving point and the spatial travel H2 from the target delivery point to the target receiving point are calculated respectively, where H1 = h1 + h3 and H2 = h2 + h4. The magnitudes 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; and if H1 = H2, either tower crane 1 or tower crane 2 is randomly determined as the target hoisting equipment. By using the tower crane with the shortest spatial travel distance from the target delivery point and the target receiving point as the hoisting equipment, energy waste can be effectively reduced.

[0066] In this application, after determining the target hoisting equipment, the server also sends the target shipping point location and the target receiving point location to the hoisting equipment. The hoisting equipment receives the target shipping point location and the target receiving point location from the server, and controls the hoisting mechanism of the current hoisting equipment to reach the initial shipping position based on the target shipping point location. 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 location; that is, the initial shipping position is an initial range that can cover the target shipping point location. For the target shipping remote control equipment, if it is determined that the server has assigned control authority over the target hoisting equipment to the current shipping remote control equipment, a shipping control command is sent to the target hoisting equipment. The hoisting equipment receives the shipping control command from the target shipping remote control equipment, and if it is determined that the target shipping remote control equipment has control authority over the current hoisting equipment, it controls the hoisting mechanism of the current hoisting equipment to reach the target shipping point location to hoist the goods. The shipping remote control equipment can send a shipping task completion request to the target hoisting equipment after completing the shipping task to release control authority over the target hoisting equipment. It is understood that the hoisting mechanism of the hoisting equipment is the hook and / or boom of the tower crane.

[0067] After the target hoisting equipment completes the hoisting of the goods, before controlling the hoisting mechanism of the current hoisting equipment to reach the target receiving point, it first controls the hoisting mechanism of the current hoisting equipment to reach the initial receiving position. The initial receiving position is any position within the second hoisting range that the hoisting mechanism of the current hoisting equipment 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 equipment, if it is determined that the server has assigned control rights of the target hoisting equipment to the current receiving remote control equipment, a receiving control command is sent to the target hoisting equipment to control its hoisting mechanism to reach the target receiving point. The hoisting equipment receives the receiving control command from the target receiving remote control equipment. If it is determined that the target receiving remote control equipment has control rights over the current hoisting equipment, it controls the hoisting mechanism of the current hoisting equipment to reach the target receiving point. The receiving remote control equipment can send a receiving task completion request to the target hoisting equipment after completing the receiving task to release its control rights over the target hoisting equipment.

[0068] The hoisting equipment also transmits its own equipment status to each other. For example, before performing a delivery operation, the current hoisting equipment receives the current equipment status from adjacent hoisting equipment. The hoisting range of the adjacent equipment overlaps with that of the current hoisting equipment, and the equipment status includes whether the hoisting equipment is in operation or idle. Figure 8 As shown, when the current equipment status of the adjacent hoisting equipment is in the running state, the hoisting mechanism of the current hoisting equipment is controlled to move outside the hoisting range of the adjacent hoisting equipment, and the current hoisting equipment is controlled to enter the waiting state until the current equipment status of the adjacent hoisting equipment is updated to the idle state, thereby avoiding the adjacent hoisting equipment.

[0069] When the current equipment status of an adjacent hoisting device is updated to idle, the current hoisting device, after determining that the target delivery remote control device has control over it, sends its operational status to the adjacent hoisting devices and the server, responding to the delivery remote control device's instructions to execute the delivery operation. Conversely, if the server has revoked the control of both the target delivery and receiving remote control devices, the current hoisting device sends its idle status to the adjacent hoisting devices and the server. In this way, by updating its own equipment status in real time, the hoisting device can avoid collisions based on the status of adjacent hoisting devices, effectively improving the safety of the hoisting process.

[0070] like Figure 9 As shown, in a second aspect of this application, a piezoelectric apparatus is provided, applying the above-described piezoelectric method. The apparatus includes:

[0071] The request receiving module is configured to respond to the delivery request of the target delivery remote control device and the receipt request of the target receiving remote control device, and obtain the target delivery point location of the target delivery remote control device and the target receipt point location of the target receiving remote control device.

[0072] The module for determining lifting equipment to be dispatched is configured to determine lifting equipment whose lifting range covers both the target shipping point and the target receiving point as lifting equipment to be dispatched, based on the target shipping point location, the target receiving point location, and the location of all lifting equipment in the lifting equipment group.

[0073] The target hoisting equipment determination module is configured to determine the target hoisting equipment based on the positional relationship between each hoisting equipment to be dispatched and the target delivery point and / or the target receiving point when there are multiple hoisting equipment to be dispatched.

[0074] Optionally, after determining the target hoisting equipment based on the positional relationship between each hoisting equipment to be dispatched and the target delivery point and / or the target receiving point, the device further includes:

[0075] The permission allocation module is configured to allocate control permissions of the target hoisting equipment to the target delivery remote control equipment and the target receiving remote control equipment.

[0076] Optionally, the device further includes an equipment status acquisition module, configured to receive the equipment status of each of the multiple hoisting devices to be dispatched when there are multiple hoisting devices to be dispatched, and determine the target hoisting device based on the equipment status of each hoisting device to be dispatched. The equipment status includes whether the hoisting device is in an operating state or an idle state. Determining the target hoisting device based on the equipment status of each hoisting device to be dispatched includes: acquiring the equipment status of each hoisting device to be dispatched; if there is only one hoisting device to be dispatched with an idle status, determining that idle hoisting device as the target hoisting device; if there are multiple hoisting devices to be dispatched with an idle status, determining the target hoisting device based on the positional relationship between each idle hoisting device to be dispatched and the target delivery point and / or the target receiving point.

[0077] Optionally, the device further includes an equipment height acquisition module, configured to, when there are multiple hoisting devices to be dispatched in an idle state, receive the equipment height of each hoisting device to be dispatched, and determine the target hoisting device based on the equipment height of each hoisting device to be dispatched; determining the target hoisting device based on the equipment height of each hoisting device to be dispatched includes: acquiring the equipment height of each hoisting device to be dispatched; when there is only one hoisting device with the lowest equipment height, determining the hoisting device with the lowest equipment height as the target hoisting device; when there are multiple hoisting devices with the lowest equipment height, determining the target hoisting device based on the positional relationship between each hoisting device with the lowest equipment height and the target delivery point and / or the target receiving point.

[0078] Optionally, the target hoisting equipment is determined based on the positional relationship between each hoisting equipment to be dispatched and the target delivery 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.

[0079] Optionally, the target hoisting equipment is determined based on the positional relationship between each hoisting equipment to be dispatched and the target delivery point and / or the target receiving point, including: determining a first distance between the hoisting equipment position of each hoisting equipment to be dispatched and the target delivery point, and determining a second distance between the hoisting equipment position of each hoisting equipment to be dispatched and the target receiving point; 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.

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

[0081] It is understood that those skilled in the art will clearly recognize that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0082] In a third aspect, this application provides a server that includes the aforementioned petabyte device.

[0083] A fourth aspect of this application provides a Pyta control system, comprising: a server as described above, at least one hoisting device, at least one delivery remote control device, and at least one receiving remote control device; the hoisting device, the delivery remote control device, and the receiving remote control device are each communicatively connected to the server. The server can be a local server or a cloud server. The server and the hoisting device are connected via wired or wireless communication. After the server assigns control permissions for the corresponding hoisting device to the delivery remote control device and / or the receiving remote control device, the delivery remote control device and / or the receiving remote control device communicate with the corresponding hoisting device via wireless communication.

[0084] In summary, the tower crane dispatching algorithm of this application can intelligently assign the optimal tower crane based on the location of the delivery point and the receiving point. At the same time, it can actively avoid collisions between tower cranes and between tower cranes and obstacles, and can intelligently control idle tower cranes to give way to heavy-duty 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 have been described in detail above with reference to the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the above embodiments. Within the scope of the technical concept of the embodiments of the present invention, various simple modifications can be made to the technical solutions of the embodiments of the present invention, and these simple modifications all fall within 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 embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the embodiments of the present invention will not describe the various possible combinations separately.

[0087] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the embodiments of the present invention, and should also be regarded as the content disclosed by the embodiments of the present invention.

Claims

1. A Pita method applied to a server, characterized in that, The method comprises: in response to a delivery request of a target delivery remote control device and a receiving request of a target receiving remote control device, obtaining a target delivery point position of the target delivery remote control device and a target receiving point position of the target receiving remote control device; based on the target delivery point position, the target receiving point position and the positions of all hoisting devices in the hoisting device group, determining a hoisting device covering the target delivery point position and the target receiving point position in a hoisting range as a to-be-assigned hoisting device; in the case that the to-be-assigned hoisting device is multiple, receiving a device state of each to-be-assigned hoisting device, the device state comprising a running state or an idle state of the hoisting device; in the case that the to-be-assigned hoisting device in the idle state is multiple, receiving a device height of each to-be-assigned hoisting device; in the case that the to-be-assigned hoisting device with the lowest device height is single, determining the to-be-assigned hoisting device with the lowest device height as a target hoisting device; in the case that the to-be-assigned hoisting device with the lowest device height is multiple, determining the target hoisting device according to the positional relationship between each to-be-assigned hoisting device with the lowest device height and the target delivery point position and / or the target receiving point position.

2. The pita method of claim 1, wherein, After determining the hoisting device covering the target delivery point position and the target receiving point position in the hoisting range as the to-be-assigned hoisting device, the method further comprises: in the case that the to-be-assigned hoisting device is single, determining the to-be-assigned hoisting device as the target hoisting device.

3. The pita method of claim 1, wherein, After determining the target hoisting device according to the positional relationship between each to-be-assigned hoisting device and the target delivery point position and / or the target receiving point position, the method further comprises: allocating the control right of the target hoisting device to the target delivery remote control device and the target receiving remote control device.

4. The pita method of claim 1, wherein, In the case that the to-be-assigned hoisting device is multiple, the method further comprises: in the case that the to-be-assigned hoisting device in the idle state is single, determining the to-be-assigned hoisting device in the idle state as the target hoisting device.

5. The pita method of claim 1, wherein, Determining the target hoisting device according to the positional relationship between each to-be-assigned hoisting device and the target delivery point position and / or the target receiving point position comprises: determining the distance between each to-be-assigned hoisting device and the target receiving point position according to the position of the hoisting device of each to-be-assigned hoisting device; determining the to-be-assigned hoisting device closest to the target receiving point position as the target hoisting device.

6. The pita method of claim 1, wherein, Determining the target hoisting device according to the positional relationship between each to-be-assigned hoisting device and the target delivery point position and / or the target receiving point position comprises: determining a first distance between the position of the hoisting device of each to-be-assigned hoisting device and the target delivery point position, and determining a second distance between the position of the hoisting device of each to-be-assigned hoisting device and the target receiving point position; determining the to-be-assigned hoisting device with the smallest sum of the first distance and the second distance among the to-be-assigned hoisting devices as the target hoisting device.

7. The Pita process according to claim 1 or 2, characterized in that, Obtaining the target delivery point position of the target delivery remote control device and the target receiving point position of the target receiving remote control device comprises: receiving the target delivery point position and the target collection point position input by a user through a first data interface; or acquiring the target delivery point position from a positioning device of the target delivery remote control device and the target collection point position from a positioning device of the target collection remote control device through a second data interface.

8. A pita device applying the pita method of any one of claims 1 to 7, characterized by, The device comprises: a request receiving module configured to acquire a target delivery point position of a target delivery remote control device and a target collection point position of a target collection remote control device in response to a delivery request of the target delivery remote control device and a collection request of the target collection remote control device; a to-be-assigned hoisting device determining module configured to determine, based on the target delivery point position, the target collection point position, and positions of all hoisting devices in a hoisting device group, a hoisting device whose hoisting range covers the target delivery point position and the target collection point position as a to-be-assigned hoisting device; a target hoisting device determining module configured to determine a target hoisting device according to a positional relationship between each to-be-assigned hoisting device and the target delivery point position and / or the target collection point position when the to-be-assigned hoisting device is multiple.

9. A server, characterized by The server comprises the Pita device of claim 8.

10. A pit control system characterized by, comprises: the server, the at least one hoisting device, the at least one delivery remote control device, and the at least one collection remote control device of claim 9; the hoisting device, the delivery remote control device, and the collection remote control device are respectively in communication connection with the server.

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