Remote controller and tower crane pairing method and device, storage medium and electronic equipment

Abstract

The invention discloses a remote controller and tower crane pairing method and device, a storage medium and electronic equipment, and relates to the technical field of automatic construction. The pairing method of the remote controller and the tower crane is applied to a tower crane management server, the tower crane management server is used for managing a plurality of tower cranes, and the method comprises the following steps: acquiring a hook calling signal sent by the remote controller; obtaining delivery position information and receiving position information; in response to the hook calling signal, a working tower crane is matched from the multiple tower cranes based on the position information, the delivery position information and the receiving position information of all the tower cranes; and sending the communication information of the working tower crane to a remote controller, so that the remote controller establishes pairing connection with the working tower crane based on the communication information of the working tower crane. The pairing of the remote controller and the tower crane is carried out through the tower crane management server, so that the specific remote controller and the specific tower crane are decoupled, the pairing of the remote controller and the tower crane is more flexible, and the actual construction requirements can be met.

Description

Technical Field

[0001] The present application relates to the technical field of automated construction, and specifically to a method for pairing a remote control with a tower crane, a device for pairing a remote control with a tower crane, a machine-readable storage medium, and an electronic device. Background Art

[0002] Traditional tower cranes are aerial work jobs, and the driver needs to climb to the driver's cab on the tower crane to operate the tower crane. There is also a hoisting method that uses a remote control to operate the tower crane under the tower, and the driver does not need to climb the tower. However, due to the large operating range of the tower crane and the complex construction site scene, the field of vision of the operator of the ground remote control is not as wide as the field of vision of the driver operating on the tower, resulting in low efficiency and safety hazards of ground remote control operation. In order to solve the above problems, the tower crane can be operated by remote control in the hook-raising stage at the shipping location and the hook-dropping stage at the receiving location. In the aerial operation stage after the cargo leaves the ground, the tower crane can automatically operate, automatically plan the path, and automatically avoid obstacles without the intervention of the remote control operator, thereby overcoming the problem of limited vision of the ground remote control operator after the cargo is lifted into the air and leaves the shipping point.

[0003] However, existing technologies all directly pair the remote control with the tower crane. The remote control is bound to the tower crane to form a one-to-one correspondence in hardware. Remote controls of different tower cranes cannot be mixed. As a result, when there are multiple tower cranes on site, different remote controls need to be paired separately. The pairing of the remote control and the tower crane is not flexible enough to meet actual construction needs. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a method for pairing a remote control with a tower crane, a device for pairing a remote control with a tower crane, a machine-readable storage medium and an electronic device, so as to solve the problem in the prior art that the pairing of a remote control with a tower crane is not flexible enough and cannot meet the actual construction needs.

[0005] In order to achieve the above-mentioned object, the first aspect of the present application provides a method for pairing a remote control with a tower crane, which is applied to a tower crane management server, and the tower crane management server is used to manage multiple tower cranes. The method includes:

[0006] Get the hook signal sent by the remote control;

[0007] Get the delivery location information and the receiving location information;

[0008] In response to the hook call signal, matching a working tower crane from the plurality of tower cranes based on the position information of each tower crane, the shipping position information and the receiving position information;

[0009] The communication information of the working tower crane is sent to the remote controller, so that the remote controller establishes a pairing connection with the working tower crane based on the communication information of the working tower crane.

[0010] In the embodiment of the present application, matching a working tower crane from the plurality of tower cranes based on the position information of each tower crane, the delivery position information, and the receipt position information includes:

[0011] Taking the working range of the tower crane covering both the delivery position and the receiving position as a constraint condition, based on the position information of each tower crane, the delivery position information and the receiving position information, a plurality of tower cranes to be selected are matched among the plurality of tower cranes;

[0012] Based on the preset tower dispatching rules, matching is performed among the multiple tower cranes to obtain a working tower crane, wherein the preset tower dispatching rules include one or more of the working state of the tower crane, the height of the tower crane and the length of the running path of the tower crane.

[0013] In an embodiment of the present application, the sending of the communication information of the working tower crane to the remote controller so that the remote controller establishes a pairing connection with the corresponding tower crane based on the communication information of the working tower crane includes:

[0014] Sending communication information of the working tower crane to the remote controller;

[0015] The remote controller determines whether the currently matched tower crane is the same as the working tower crane based on the communication information of the working tower crane;

[0016] When it is determined that the currently matched tower crane is not the same as the working tower crane, the remote controller disconnects from the currently matched tower crane and establishes a pairing connection with the working tower crane based on the communication information of the working tower crane.

[0017] In the embodiment of the present application, the remote controller includes a shipping remote controller and a receiving remote controller, and obtaining a hook signal sent by the remote controller includes:

[0018] Acquire a delivery hook signal sent by the delivery remote control, and / or acquire a delivery hook signal sent by the delivery remote control.

[0019] In the embodiment of the present application, the shipping remote controller and the receiving remote controller are respectively equipped with a positioning device, and obtaining the shipping location information and the receiving location information includes:

[0020] Acquiring the delivery location information determined by the delivery remote control through the positioning device;

[0021] Acquire the delivery location information determined by the delivery remote controller through the positioning device.

[0022] In an embodiment of the present application, the communication information of the working tower crane includes the communication address and identity information of the working tower crane.

[0023] In an embodiment of the present application, after the communication information of the working tower crane is sent to the remote controller so that the remote controller establishes a pairing connection with the working tower crane based on the communication information of the working tower crane, the method further includes:

[0024] The remote controller sends a control signal to the working tower crane to operate the working tower crane.

[0025] A second aspect of the present application provides a pairing device for a remote controller and a tower crane, which is applied to a tower crane management server, and the tower crane management server is used to manage multiple tower cranes. The device includes:

[0026] A first acquisition module, used to acquire a hook call signal sent by the remote controller;

[0027] The second acquisition module is used to acquire the delivery location information and the receiving location information;

[0028] A matching module, configured to match a working tower crane from the plurality of tower cranes in response to the hook call signal based on the position information of each tower crane, the delivery position information and the receiving position information;

[0029] The sending module is used to send the communication information of the working tower crane to the remote controller, so that the remote controller establishes a pairing connection with the working tower crane based on the communication information of the working tower crane.

[0030] A third aspect of the present application provides an electronic device, the electronic device comprising:

[0031] at least one processor;

[0032] a memory connected to the at least one processor;

[0033] The memory stores instructions that can be executed by the at least one processor, and the at least one processor implements the above-mentioned method for pairing the remote control with the tower crane by executing the instructions stored in the memory.

[0034] A fourth aspect of the present application provides a machine-readable storage medium, on which instructions are stored. When the instructions are executed by a processor, the processor is configured to execute the above-mentioned method for pairing a remote control with a tower crane.

[0035] According to the above technical solution, the tower crane management server obtains the hook signal sent by the remote control, obtains the shipping location information and the receiving location information, responds to the hook signal, matches the working tower crane among the multiple tower cranes based on the location information of each tower crane, the shipping location information and the receiving location information, sends the communication information of the working tower crane to the remote control, so that the remote control establishes a pairing connection with the working tower crane based on the communication information of the working tower crane. The tower crane management server is used to perform the pairing of the remote control and the tower crane, thereby decoupling the specific remote control and the specific tower crane. After the remote control and the tower crane are successfully paired by the tower crane management server, the remote control can directly operate the tower crane, thereby realizing a pairing method combining indirect pairing with direct pairing. The pairing of the remote control and the tower crane is performed through the tower crane management server, so that the specific remote control is decoupled from the specific tower crane, and then a remote control is not hard-connected to any tower crane. The tower crane management server can specify any remote control to be paired with any tower crane, so that the pairing of the remote control and the tower crane is more flexible and can meet the actual construction needs.

[0036] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0038] Figure 1 A schematic diagram of a flow chart of a method for pairing a remote controller with a tower crane according to an embodiment of the present application is schematically shown;

[0039] Figure 2 A schematic diagram of indirect pairing of a remote controller using a server according to an embodiment of the present application is shown;

[0040] Figure 3 A schematic diagram of direct control of a tower crane by a remote controller according to an embodiment of the present application is shown;

[0041] Figure 4 A schematic diagram of function buttons / switches on a remote controller according to an embodiment of the present application is shown;

[0042] Figure 5 A schematic diagram of the structure of a pairing device for a remote controller and a tower crane according to an embodiment of the present application is shown;

[0043] Figure 6 The internal structure diagram of a computer device according to an embodiment of the present application is schematically shown.

[0044] Description of Reference Numerals

[0045] 410 - first acquisition module; 420 - second acquisition module; 430 - matching module; 440 - sending module; A01 - processor; A02 - network interface; A03 - internal memory; A04 - display screen; A05 - input device; A06 - non-volatile storage medium; B01 - operating system; B02 - computer program. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0047] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0048] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0049] Figure 1 The following is a schematic diagram showing a flow chart of a method for pairing a remote controller with a tower crane according to an embodiment of the present application. Figure 1 As shown, an embodiment of the present application provides a method for pairing a remote control with a tower crane, which is applied to a tower crane management server, and the tower crane management server is used to manage multiple tower cranes. The method includes the following steps:

[0050] Step 210: Acquire a hook signal sent by the remote controller;

[0051] In this embodiment, please refer to Figure 2 , Figure 2 The schematic diagram of indirect pairing of the remote control with the server according to the embodiment of the present application is schematically shown. Wireless communication or wired network communication on the construction site is used between the tower crane management server and the tower crane edge end. The tower crane edge end refers to the autopilot installed on the tower crane. The tower crane management server can save the information of multiple tower cranes, including the communication address, identity information, location information, etc. of the tower crane. The tower crane management server is responsible for the logical calculation of tower crane dispatch for specific scenarios. The tower crane management server can be a local server or a cloud server. Wireless communication is used between the tower crane management server and the remote control, and the hook signal sent by the remote control is sent to the tower crane management server. The hook signal can be sent by the operator operating the function button on the remote control.

[0052] In some embodiments, the remote control includes a shipping remote control and a receiving remote control, and obtaining the call hook signal issued by the remote control includes: obtaining the shipping call hook signal issued by the shipping remote control, and / or obtaining the receiving call hook signal issued by the receiving remote control.

[0053] In this embodiment, when the hoisting operation is actually carried out, a remote controller can be set at the shipping point and the receiving point to control the tower crane. Correspondingly, the remote controller located at the shipping point is the shipping remote controller, and the remote controller located at the receiving point is the receiving remote controller. Both the shipping remote controller and the receiving remote controller can send out a hook call signal. In the specific implementation, it can be that any one of the shipping remote controller and the receiving remote controller sends out a hook call signal to the tower crane management server, or it can be that both send out a hook call signal to the tower crane management server. When the tower crane management server receives any one or both of the shipping hook call signal and the receiving hook call signal, it indicates that the tower crane dispatch operation is to be performed. It should be noted that the tower crane management server receives the hook call signal sent by the shipping remote controller and the tower crane management server receives the hook call signal sent by the receiving remote controller, in no particular order.

[0054] By setting up a shipping remote control and a receiving remote control, a shipping hook signal is sent by the shipping remote control, and / or a receiving hook signal is sent by the receiving remote control, so that the hook signal can be obtained in different ways to suit different usage scenarios.

[0055] Step 220: Obtaining the delivery location information and the delivery location information;

[0056] In this embodiment, the above-mentioned delivery location information and receiving location information may refer to the coordinates of the delivery location and the coordinates of the receiving location. The above-mentioned acquisition may be sent by a remote controller, or may be input by an operator from a tower crane management server.

[0057] In some embodiments, when the remote controller includes a shipping remote controller and a receiving remote controller, the shipping remote controller and the receiving remote controller each have a built-in positioning device, and obtaining the shipping location information and the receiving location information includes the following steps:

[0058] First, obtaining the delivery location information determined by the delivery remote control through the positioning device;

[0059] Then, the receiving location information determined by the receiving remote controller through the positioning device is obtained.

[0060] In this embodiment, the positioning device may be a real-time kinematic (RTK) precision positioning device, which can achieve high-precision positioning. Figure 4 , Figure 4 The schematic diagram of the function buttons / switches on the remote control according to the embodiment of the present application is shown schematically. New operation functions such as "lifting cargo", "receiving cargo", "location lock", "confirmation", and "release" can be added to the remote control. The above operation functions can be implemented by hardware such as buttons or levers, which is not limited in this embodiment. In this way, at the shipping point, the "lifting cargo" button on the shipping remote control can be pressed, and the shipping remote control will automatically locate the spatial position of the remote control according to the RTK signal in the remote control, and obtain the "shipping place" coordinates, which is the shipping location information. Correspondingly, at the receiving point, the "receiving cargo" button on the receiving remote control can be pressed, and the receiving remote control will automatically locate the spatial position of the remote control, and obtain the "receiving place" coordinates, which is the receiving location information. It should be noted that the shipping remote control or the receiving remote control can send its own location information to the tower crane management server while sending a hook call signal, and the hook call signal can be sent when the lifting cargo or receiving cargo button is pressed.

[0061] By building a positioning device into the remote control, the shipping location information determined by the shipping remote control through the positioning device and the receiving location information determined by the receiving remote control through the positioning device respectively enable the tower crane management server to obtain more accurate shipping location information and receiving location information, which helps to match a suitable tower crane.

[0062] Step 230: In response to the hook call signal, based on the position information of each tower crane, the delivery position information and the receiving position information, a working tower crane is matched among the plurality of tower cranes;

[0063] In this embodiment, after receiving the hook signal from the remote control, the tower crane management server compares the shipping location information and the receiving location information with the location information of each tower crane stored in the tower crane management server, and then selects a tower crane that meets the requirements according to the pre-set tower dispatching principle, for example, a tower crane with the shortest sum of spatial travel distances from the shipping place and the receiving place can be selected. It should be noted that the tower dispatching principle can be determined according to actual conditions and is not limited in this embodiment.

[0064] In some embodiments, matching a working tower crane from the plurality of tower cranes based on the location information of each tower crane, the shipping location information, and the receiving location information comprises the following steps:

[0065] First, with the working range of the tower crane covering both the delivery position and the receiving position as a constraint condition, multiple tower cranes to be selected are matched among the multiple tower cranes based on the position information of each tower crane, the delivery position information, and the receiving position information;

[0066] In this embodiment, when matching tower cranes, it is first necessary to ensure that the working range of the selected tower crane covers both the shipping position and the receiving position. A tower crane whose hook can cover both the shipping position and the receiving position can be found based on the position information of the tower crane. There may be multiple tower cranes matched here, thereby obtaining multiple tower cranes to be selected.

[0067] Then, based on the preset tower dispatching rules, matching is performed among the multiple tower cranes to obtain a working tower crane, wherein the preset tower dispatching rules include one or more of the tower crane working state, tower crane height and tower crane operation path length.

[0068] In this embodiment, if there are multiple tower cranes that can cover the delivery location and the receiving location at the same time, that is, there are multiple tower cranes to be selected, the tower crane management server selects the most suitable tower crane according to the tower dispatching rule. The tower dispatching rule includes one or more of the tower crane working state, tower crane height and tower crane running path length, that is, find a tower crane that meets one or more requirements of the tower crane working state, tower crane height and tower crane running path length in the tower dispatching rule.

[0069] For example, the tower assignment rule includes the working state of the tower crane being idle, the tower crane being the highest, and the one having the shortest running path length. The selected tower cranes include tower crane A, tower crane B, and tower crane C. The working state of tower crane A is working, the height of tower crane A is 90 meters, and the running path length of tower crane A is 28 meters; the working state of tower crane B is idle, the height of tower crane B is 50 meters, and the running path length of tower crane B is 25 meters; the working state of tower crane C is idle, the height of tower crane C is 100 meters, and the running path length of tower crane C is 20 meters. According to the tower assignment rule, the matching working tower crane can be obtained as tower crane C.

[0070] For example, the tower assignment rule includes that the working state of the tower crane is idle and the tower crane height is 50 meters. The candidate tower cranes include tower crane A, tower crane B, and tower crane C. The working state of tower crane A is working, the height of tower crane A is 90 meters, and the running path length of tower crane A is 28 meters; the working state of tower crane B is idle, the height of tower crane B is 50 meters, and the running path length of tower crane B is 25 meters; the working state of tower crane C is idle, the height of tower crane C is 100 meters, and the running path length of tower crane C is 20 meters. According to the tower assignment rule, the matching working tower crane can be obtained as tower crane B.

[0071] By first matching the candidate tower cranes that meet the working scope and cover the shipping location and the receiving location, and then using one or more tower dispatching rules among the tower crane's working status, tower crane height, and tower crane's running path length, the working tower crane can be determined quickly and accurately.

[0072] Step 240: Send the communication information of the working tower crane to the remote controller, so that the remote controller establishes a pairing connection with the working tower crane based on the communication information of the working tower crane.

[0073] In this embodiment, after obtaining the working tower crane, the communication information of the working tower crane can be sent to the remote controller. In the case where the remote controller includes a shipping remote controller and a receiving remote controller, the communication information of the working tower crane is sent to the shipping remote controller and the receiving remote controller respectively, and the shipping remote controller and the receiving remote controller are paired with the tower crane respectively according to the communication address of the tower crane.

[0074] The communication information of the working tower crane includes the communication address of the working tower crane and the identity document (ID) of the working tower crane. The communication address can be used to establish a communication connection, and the identity ID can be used to further check the correctness of the pairing.

[0075] In some embodiments, the sending of the communication information of the working tower crane to the remote controller so that the remote controller establishes a pairing connection with the corresponding tower crane based on the communication information of the working tower crane comprises the following steps:

[0076] First, the communication information of the working tower crane is sent to the remote controller;

[0077] In this embodiment, when the remote controller includes a shipping remote controller and a receiving remote controller, the communication information of the working tower crane is sent to the shipping remote controller and the receiving remote controller respectively. Specifically, the communication address of the working tower crane can be sent to the remote controller.

[0078] Then, the remote controller determines whether the currently matched tower crane is the same as the working tower crane based on the communication information of the working tower crane;

[0079] In this embodiment, the above judgment can be performed by comparing the identity ID of the currently matched tower crane with the identity ID of the working tower crane. If the identity ID of the currently matched tower crane is the same as the identity ID of the working tower crane, it means that they are the same, that is, the same tower crane; otherwise, it means that they are different, that is, different tower cranes.

[0080] Then, when it is determined that the currently matched tower crane is not the same as the working tower crane, the remote controller disconnects the connection with the currently matched tower crane and establishes a pairing connection with the working tower crane based on the communication information of the working tower crane.

[0081] In this embodiment, if they are different tower cranes, the tower crane paired last time, i.e., the currently matched tower crane, is first unbound, and then the tower crane selected this time, i.e., the working tower crane, is bound. If they are the same tower crane, they are not unbound. That is to say, before the remote controller receives the update signal sent by the tower crane management server, it is paired with the original tower crane by default, and it will not actively unbind from the originally paired tower crane without the update signal. The update signal here may refer to the communication information of the working tower crane.

[0082] For example: If the operator runs out of the working range of the currently matched tower crane with the remote control, the tower crane finds through address comparison that it cannot reach the new call address. Then the tower crane notifies the tower crane management server that the new call address is beyond its working range. The tower crane management server then searches for a suitable tower crane near the remote control and pairs it again. After finding a new suitable tower crane, it follows the above steps to unbind and then pair.

[0083] The remote controller determines whether the currently matched tower crane is the same as the working tower crane based on the communication information of the working tower crane. When it is determined that the currently matched tower crane is not the same as the working tower crane, the remote controller disconnects the currently matched tower crane and establishes a connection with the corresponding tower crane based on the communication information of the working tower crane, thereby improving pairing efficiency.

[0084] In the above implementation process, the tower crane management server obtains the hook signal sent by the remote control, obtains the shipping location information and the receiving location information, responds to the hook signal, matches the working tower crane among the multiple tower cranes based on the location information of each tower crane, the shipping location information and the receiving location information, and sends the communication information of the working tower crane to the remote control, so that the remote control establishes a pairing connection with the working tower crane based on the communication information of the working tower crane. The tower crane management server is used to perform the pairing of the remote control and the tower crane, thereby decoupling the specific remote control and the specific tower crane. After the remote control and the tower crane are successfully paired by the tower crane management server, the remote control can directly operate the tower crane, thereby realizing a pairing method combining indirect pairing with direct pairing. The pairing of the remote control and the tower crane is performed through the tower crane management server, so that the specific remote control is decoupled from the specific tower crane, and then a remote control is not hard-connected to any tower crane. The tower crane management server can specify any remote control to be paired with any tower crane, so that the pairing of the remote control and the tower crane is more flexible and can meet the actual construction needs.

[0085] In some embodiments, after the communication information of the working tower crane is sent to the remote controller so that the remote controller establishes a pairing connection with the working tower crane based on the communication information of the working tower crane, it also includes: the remote controller sends a control signal to the working tower crane to operate the working tower crane.

[0086] In this embodiment, please see Figure 3 , Figure 3 The schematic diagram of direct control of a tower crane by a remote control according to an embodiment of the present application is schematically shown. The remote control may be a conventional remote control function with a LoRa frequency band. After the remote control is successfully paired with a working tower crane, the remote control can directly operate the working tower crane. The LoRa frequency band includes 433MHz, 868MHz, 915MHz, etc. For example, it may be 433MHz. The above control signal may be an operator pressing a corresponding function button on the remote control to send a control signal. The control signal of the remote control to operate the working tower crane no longer needs to be transferred through the tower crane management server, but the remote control directly sends a control signal to the working tower crane paired with it. It should be noted that a remote control can only be paired with one tower crane at a time, and a tower crane can be paired with multiple remote controls.

[0087] By sending a control signal from the remote controller to the working tower crane to operate the working tower crane, there is no need for the tower crane management server to intervene in the control, making the control more convenient.

[0088] Figure 1 FIG. 1 is a flow chart of a method for pairing a remote controller with a tower crane in one embodiment. It should be understood that although Figure 1The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0089] Please see Figure 2 ,This embodiment provides a tower crane dispatching system, including: a tower crane management server, a remote controller and a plurality of tower cranes;

[0090] The remote controller is used to obtain a hook call signal and send the hook call signal to the tower crane management server; and is also used to establish a pairing connection with the working tower crane based on the communication information of the working tower crane;

[0091] The tower crane management server is used to obtain the shipping location information and the receiving location information, and in response to the hook signal, matches a working tower crane among the multiple tower cranes based on the location information of each tower crane, the shipping location information and the receiving location information; and is also used to send the communication information of the working tower crane to the remote control.

[0092] In this embodiment, wireless communication can be used between the tower crane management server and the remote controller, and the tower crane management server and the tower crane edge end use wireless communication or use a construction site wired network communication. The tower crane can be provided with a tower crane autopilot, that is, the tower crane edge end is the tower crane autopilot, and when establishing a pairing connection, the remote controller can establish a pairing connection with the tower crane autopilot on the tower crane.

[0093] The delivery location information and the receiving location information are obtained by the hook signal sent by the remote control. The tower crane management server responds to the hook signal, matches the working tower crane among the multiple tower cranes based on the location information of each tower crane, the delivery location information and the receiving location information, and sends the communication information of the working tower crane to the remote control. The remote control establishes a pairing connection with the working tower crane based on the communication information of the working tower crane. The tower crane management server is used to perform the pairing of the remote control and the tower crane, thereby decoupling the specific remote control and the specific tower crane. After the remote control and the tower crane are successfully paired by the tower crane management server, the remote control can directly operate the tower crane, thereby realizing a pairing method combining indirect pairing with direct pairing. The pairing of the remote control and the tower crane is performed through the tower crane management server, so that the specific remote control is decoupled from the specific tower crane, and then a remote control is not hard-connected to any tower crane. The tower crane management server can specify any remote control to be paired with any tower crane, so that the pairing of the remote control and the tower crane is more flexible and can meet the actual construction needs.

[0094] Please see Figure 3 This embodiment provides a tower crane hoisting control method, which is applied to a construction site having a tower crane management server, multiple tower cranes and multiple remote controllers, wherein the tower crane management server is used to manage the multiple tower cranes; the method comprises the following steps:

[0095] First, a shipping remote control and a receiving remote control are determined from the multiple remote controls, and the tower crane management server uses the above-mentioned remote control and tower crane pairing method to respectively establish matching connections between the shipping remote control and the receiving remote control and the working tower crane;

[0096] In this embodiment, the operator determines the remote controller to be used according to the specific scenario, including a remote controller for controlling the tower crane at the shipping location and a remote controller for controlling the tower crane at the receiving location. Then, the tower crane is paired using the above remote controller and tower crane pairing method, thereby determining the working tower crane, and establishing pairing connections with the shipping remote controller and the receiving remote controller respectively. After the pairing is successful, the shipping remote controller and the receiving remote controller can directly control the operation of the tower crane. The above pairing process has been described in detail in an embodiment of a remote controller and tower crane pairing method, and will not be repeated here.

[0097] Then, the working tower crane obtains the actual delivery position information and the actual receiving position information;

[0098] In this embodiment, the actual delivery position information refers to the actual delivery point position when the hoisting operation is to be performed, and the actual receiving position information refers to the actual receiving point position when the hoisting operation is to be performed. The above-mentioned actual delivery position information and actual receiving position information can be sent by the delivery remote controller and the receiving remote controller respectively, or can be sent by the tower crane management server.

[0099] In some embodiments, the step of obtaining the actual delivery location information and the actual delivery location information by the working tower crane comprises the following steps:

[0100] The first step is that the tower crane management server sends the delivery location information and the receiving location information to the working tower crane;

[0101] In the second step, the working tower crane uses the shipping position information as actual shipping position information and uses the receiving position information as actual receiving position information.

[0102] In this embodiment, after pairing is completed, when the hoisting operation is performed for the first time, the tower crane management server can send the shipping location information and receiving location information obtained during pairing to the working tower crane as actual shipping location information and actual receiving location information.

[0103] The tower crane management server sends the shipping location information and the receiving location information to the working tower crane and uses them as the actual shipping location information and the actual receiving location information, thereby avoiding sending the location information again, reducing the operation steps, and making the hoisting control simpler.

[0104] Then, the working tower crane controls the end effector of the tower crane to move to the delivery point based on the actual delivery position information;

[0105] In this embodiment, after the tower crane recognizes the actual delivery location information, it will move the end of the tower crane, such as the hook, to the delivery location.

[0106] Then, the delivery remote controller obtains a cargo hook confirmation signal, and sends the cargo hook confirmation signal to the working tower crane;

[0107] In this embodiment, the cargo hooking at the shipping location is completed, and the operator can press the confirmation button on the shipping remote control to obtain the cargo hooking confirmation signal and send it to the working tower crane. After the tower crane receives the hooking completion confirmation signal from the shipping location, it proceeds to the next step.

[0108] Then, after successfully receiving the cargo hook confirmation signal, the working tower crane controls the end effector of the tower crane to move to the cargo receiving point based on the actual cargo receiving position information;

[0109] In this embodiment, after the working tower crane successfully receives the cargo hook confirmation signal, the working tower crane automatically moves to the cargo receiving location.

[0110] In some embodiments, in order to ensure that the hoisting operation can be completed normally, after successfully receiving the cargo hook confirmation signal, the working tower crane controls the end effector of the tower crane to move to the receiving point position based on the actual receiving position information, including:

[0111] The first step is that after the working tower crane successfully receives the cargo hook confirmation signal, it determines whether the actual cargo receiving position information is received;

[0112] In the second step, after the working tower crane determines that the actual receiving position information is successfully received, the tower crane terminal effector is controlled to move to the receiving point position based on the actual receiving position information.

[0113] In this embodiment, since the two signals of the delivery hook call signal and the receiving hook call signal are not necessarily sent at the same time, the delivery remote control and the receiving remote control do not necessarily send the position information at the same time, accordingly, the actual delivery position information and the actual receiving position information may not necessarily be obtained at the same time. After the cargo hooking at the delivery place is completed and the working tower crane receives the hooking completion confirmation signal at the delivery place, if the working tower crane has received the receiving place information at this time, it will automatically run to the receiving place. If the working tower crane still has not received the delivery place information at this time, it will not automatically run. This ensures that the hoisting operation can be completed normally.

[0114] In some embodiments, after the working tower crane successfully receives the cargo hook confirmation signal, based on the actual cargo receiving position information, controlling the tower crane end effector to move to the cargo receiving point position includes:

[0115] The first step is that after the working tower crane successfully receives the cargo hook confirmation signal, the control right of the tower crane is transferred to the tower crane autopilot on the working tower crane;

[0116] In the second step, the tower crane autopilot controls the tower crane end effector to run to the receiving point position based on the actual receiving position information, and the working tower crane transfers the control right of the tower crane to the receiving remote controller.

[0117] In this embodiment, after the remote control at the shipping point controls the end effector of the working tower crane to lift the hook, the control right of the tower crane is released and the control right of the tower crane is transferred to the automatic pilot of the tower crane. When the goods are transported to the vicinity of the receiving point, the automatic pilot of the tower crane releases the control right of the tower crane, and the receiving remote control takes over the control right of the tower crane. By releasing and transferring the control right, the remote control and the automatic pilot of the tower crane can control the tower crane at different stages to ensure the normal operation of the hoisting operation.

[0118] Finally, the cargo receiving remote controller controls the working tower crane to complete cargo receiving.

[0119] In this embodiment, the work of lowering the hook of the goods to the ground or placing the goods in place can be completed by operating the function button on the goods receiving remote control.

[0120] In some embodiments, after the cargo receiving remote control controls the working tower crane to complete cargo receiving, the method further includes: controlling the tower crane end effector by the cargo receiving remote control to move to a safe airspace and releasing control of the tower crane.

[0121] In this embodiment, after the cargo is in place and the hook is unhooked, the cargo receiving remote controller operates the end effector of the tower crane, such as the hook, to lift the hook to a safe airspace, and then releases the control of the tower crane to ensure safety.

[0122] In some embodiments, after the cargo receiving remote controller controls the working tower crane to complete cargo receiving, the method further includes:

[0123] The first step is to determine by the working tower crane whether the end effector of the tower crane is currently in an idle state;

[0124] In the second step, when it is confirmed that the tower crane end effector is currently in an idle state, the working tower crane controls the tower crane end effector to move to a preset position.

[0125] In this embodiment, the idle state refers to an empty hook and no lifting task. If the hook is empty and there is no lifting task, the tower crane will retract the empty hook to the default position to facilitate the management of the tower crane. The preset position refers to the default position, which can be set according to actual needs. For example, when the delivery address is fixed or the delivery address is fixed, there is no need to use the remote control to call the hook to send the position information, and the autopilot automatically repeats between the delivery address and / or the delivery address. Then the default position can refer to the delivery position or the delivery position.

[0126] It should be noted that if a cyclic lifting operation is required, the steps of the above tower crane lifting control method can be repeated.

[0127] By determining the shipping remote control and the receiving remote control from the multiple remote controls, the tower crane management server uses the above-mentioned remote control and tower crane pairing method to respectively establish matching connections between the shipping remote control and the receiving remote control and the working tower crane; the working tower crane obtains the actual shipping position information and the actual receiving position information; the working tower crane controls the tower crane end effector to run to the shipping point based on the actual shipping position information; the shipping remote control obtains the cargo hook confirmation signal and sends the cargo hook confirmation signal to the working tower crane; after successfully receiving the cargo hook confirmation signal, the working tower crane controls the tower crane end effector to run to the receiving point based on the actual receiving position information, and the receiving remote control controls the working tower crane to complete cargo reception. The tower crane management server is used to perform the pairing of the remote control and the tower crane, thereby decoupling the specific remote control and the specific tower crane. After the remote control and the tower crane are successfully paired by the tower crane management server, the remote control can directly operate the tower crane, thereby realizing a pairing method combining indirect pairing with direct pairing. The pairing of the remote controller and the tower crane is performed through the tower crane management server, so that the specific remote controller is decoupled from the specific tower crane, and a remote controller is not hard-connected to any tower crane. The tower crane management server can specify any remote controller to be paired with any tower crane, making the pairing of the remote controller and the tower crane more flexible and able to meet actual construction needs. The hoisting of the working tower crane is operated by the remote controller, making the control more convenient.

[0128] This embodiment also provides a pairing device for a remote controller and a tower crane. Figure 5 , Figure 5 A schematic diagram of the structure of a pairing device for a remote controller and a tower crane according to an embodiment of the present application is schematically shown, which is applied to a tower crane management server, and the tower crane management server is used to manage multiple tower cranes. The device includes a first acquisition module 410, a second acquisition module 420, a matching module 430 and a sending module 440, wherein:

[0129] The first acquisition module 410 is used to acquire a hook call signal sent by the remote controller;

[0130] The second acquisition module 420 is used to acquire the delivery location information and the receiving location information;

[0131] A matching module 430, configured to match a working tower crane from the plurality of tower cranes in response to the hook call signal based on the position information of each tower crane, the shipping position information and the receiving position information;

[0132] The sending module 440 is used to send the communication information of the working tower crane to the remote controller, so that the remote controller establishes a pairing connection with the working tower crane based on the communication information of the working tower crane.

[0133] The pairing device for the remote control and the tower crane includes a processor and a memory. The first acquisition module 410, the second acquisition module 420, the matching module 430 and the sending module 440 are all stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.

[0134] The processor includes a kernel, which calls the corresponding program unit from the memory. One or more kernels can be set, and the remote controller and the tower crane can be flexibly paired by adjusting the kernel parameters.

[0135] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0136] An embodiment of the present invention provides a machine-readable storage medium on which a program is stored. When the program is executed by a processor, the method for pairing the remote controller with a tower crane is implemented.

[0137] An embodiment of the present invention provides a processor, which is used to run a program, wherein the program executes the pairing method of the remote controller and the tower crane when running.

[0138] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 6 As shown. The computer device includes a processor A01, a network interface A02, a display screen A04, an input device A05 and a memory (not shown in the figure) connected through a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A06. The non-volatile storage medium A06 stores an operating system B01 and a computer program B02. The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A06. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor A01, a method for pairing a remote control with a tower crane is implemented. The display screen A04 of the computer device can be a liquid crystal display or an electronic ink display, and the input device A05 of the computer device can be a touch layer covered on the display screen, or a button, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse.

[0139] Those skilled in the art will understand that Figure 6The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0140] In one embodiment, the pairing device of the remote controller and the tower crane provided in the present application can be implemented in the form of a computer program. The computer program can be used in Figure 6 The computer device shown in the figure is run on the computer device. The memory of the computer device can store various program modules that constitute the pairing device of the remote controller and the tower crane, for example, Figure 5 The first acquisition module 410, the second acquisition module 420, the matching module 430 and the sending module 440 are shown. The computer program composed of various program modules enables the processor to execute the steps of the remote control and tower crane pairing method of each embodiment of the present application described in this specification.

[0141] The embodiment of the present application provides an electronic device, which includes: at least one processor; a memory connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the at least one processor implements the above-mentioned remote control and tower crane pairing method by executing the instructions stored in the memory, and is applied to a tower crane management server, and the tower crane management server is used to manage multiple tower cranes. When the processor executes the instructions, the following steps are implemented:

[0142] Get the hook signal sent by the remote control;

[0143] Get the delivery location information and the receiving location information;

[0144] In response to the hook call signal, matching a working tower crane from the plurality of tower cranes based on the position information of each tower crane, the shipping position information and the receiving position information;

[0145] The communication information of the working tower crane is sent to the remote controller, so that the remote controller establishes a pairing connection with the working tower crane based on the communication information of the working tower crane.

[0146] In one embodiment, matching a working tower crane from the plurality of tower cranes based on the position information of each tower crane, the shipping position information, and the receiving position information includes:

[0147] Taking the working range of the tower crane covering both the delivery position and the receiving position as a constraint condition, based on the position information of each tower crane, the delivery position information and the receiving position information, a plurality of tower cranes to be selected are matched among the plurality of tower cranes;

[0148] Based on the preset tower dispatching rules, matching is performed among the multiple tower cranes to obtain a working tower crane, wherein the preset tower dispatching rules include one or more of the working state of the tower crane, the height of the tower crane and the length of the running path of the tower crane.

[0149] In one embodiment, the sending the communication information of the working tower crane to the remote controller so that the remote controller establishes a pairing connection with the corresponding tower crane based on the communication information of the working tower crane includes:

[0150] Sending communication information of the working tower crane to the remote controller;

[0151] The remote controller determines whether the currently matched tower crane is the same as the working tower crane based on the communication information of the working tower crane;

[0152] When it is determined that the currently matched tower crane is not the same as the working tower crane, the remote controller disconnects the currently matched tower crane and establishes a pairing connection with the working tower crane based on the communication information of the working tower crane.

[0153] In one embodiment, the remote controller includes a shipping remote controller and a receiving remote controller, and obtaining the hook signal sent by the remote controller includes:

[0154] Acquire a delivery hook signal sent by the delivery remote control, and / or acquire a delivery hook signal sent by the delivery remote control.

[0155] In one embodiment, the shipping remote controller and the receiving remote controller each have a built-in positioning device, and obtaining the shipping location information and the receiving location information includes:

[0156] Acquiring the delivery location information determined by the delivery remote control through the positioning device;

[0157] Acquire the delivery location information determined by the delivery remote controller through the positioning device.

[0158] In one embodiment, the communication information of the working tower crane includes the communication address and identity information of the working tower crane.

[0159] In one embodiment, after the communication information of the working tower crane is sent to the remote controller so that the remote controller establishes a pairing connection with the working tower crane based on the communication information of the working tower crane, the method further includes:

[0160] The remote controller sends a control signal to the working tower crane to operate the working tower crane.

[0161] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0162] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0163] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0164] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0165] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0166] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0167] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0168] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0169] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for pairing a remote controller with a tower crane, characterized in that: Applied to a tower crane management server, the tower crane management server is used to manage multiple tower cranes, the method includes: Get the hook signal sent by the remote control; Get the delivery location information and the receiving location information; In response to the hook call signal, matching a working tower crane from the plurality of tower cranes based on the position information of each tower crane, the shipping position information and the receiving position information; The communication information of the working tower crane is sent to the remote controller, so that the remote controller establishes a pairing connection with the working tower crane based on the communication information of the working tower crane.

2. The method according to claim 1, characterized in that The matching of a working tower crane from the plurality of tower cranes based on the position information of each tower crane, the delivery position information, and the receipt position information includes: Taking the working range of the tower crane covering both the delivery position and the receiving position as a constraint condition, based on the position information of each tower crane, the delivery position information and the receiving position information, a plurality of tower cranes to be selected are matched among the plurality of tower cranes; Based on the preset tower dispatching rules, matching is performed among the multiple tower cranes to obtain a working tower crane, wherein the preset tower dispatching rules include one or more of the working state of the tower crane, the height of the tower crane and the length of the running path of the tower crane.

3. The method according to claim 1, characterized in that The sending of the communication information of the working tower crane to the remote controller so that the remote controller establishes a pairing connection with the corresponding tower crane based on the communication information of the working tower crane, comprises: Sending communication information of the working tower crane to the remote controller; The remote controller determines whether the currently matched tower crane is the same as the working tower crane based on the communication information of the working tower crane; When it is determined that the currently matched tower crane is not the same as the working tower crane, the remote controller disconnects the currently matched tower crane and establishes a pairing connection with the working tower crane based on the communication information of the working tower crane.

4. The method according to any one of claims 1 to 3, characterized in that The remote controller includes a shipping remote controller and a receiving remote controller, and obtaining a hook signal sent by the remote controller includes: Acquire a delivery hook signal sent by the delivery remote control, and / or acquire a delivery hook signal sent by the delivery remote control.

5. The method according to claim 4, characterized in that The shipping remote controller and the receiving remote controller are respectively equipped with a positioning device, and the obtaining of the shipping location information and the receiving location information includes: Acquiring the delivery location information determined by the delivery remote control through the positioning device; Acquire the delivery location information determined by the delivery remote controller through the positioning device.

6. The method according to claim 1, characterized in that The communication information of the working tower crane includes the communication address and identity information of the working tower crane.

7. The method according to claim 1, characterized in that After the communication information of the working tower crane is sent to the remote controller so that the remote controller establishes a pairing connection with the working tower crane based on the communication information of the working tower crane, the method further includes: The remote controller sends a control signal to the working tower crane to operate the working tower crane.

8. A pairing device for a remote controller and a tower crane, characterized in that: Applied to a tower crane management server, the tower crane management server is used to manage multiple tower cranes, and the device includes: A first acquisition module, used to acquire a hook call signal sent by the remote controller; The second acquisition module is used to acquire the delivery location information and the receiving location information; A matching module, configured to match a working tower crane from the plurality of tower cranes in response to the hook call signal based on the position information of each tower crane, the delivery position information and the receiving position information; The sending module is used to send the communication information of the working tower crane to the remote controller, so that the remote controller establishes a pairing connection with the working tower crane based on the communication information of the working tower crane.

9. An electronic device, characterized in that: The electronic device includes: at least one processor; a memory connected to the at least one processor; The memory stores instructions that can be executed by the at least one processor, and the at least one processor implements the method for pairing a remote control with a tower crane according to any one of claims 1 to 7 by executing the instructions stored in the memory.

10. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instruction is executed by a processor, the processor is configured to execute the method for pairing a remote controller with a tower crane according to any one of claims 1 to 7.

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