Multi-tower machine control method and device

Abstract

The application discloses a multi-tower crane control method and device, and relates to the technical field of building construction. The multi-tower crane control method is applied to a server, and the server is used for managing multiple tower cranes. The method comprises the following steps: acquiring delivery point position information and receiving point position information; in response to a hoisting application instruction, based on the delivery point position information, the receiving point position information and operation information of each tower crane, an effective path is determined, the effective path comprises multiple transfer points, and each transfer point corresponds to a tower crane; based on the effective path, a hoisting task is generated, and each tower crane in the effective path is controlled to complete the hoisting task based on the hoisting task. The server is used for group tower control, hoisting efficiency is improved, and effective utilization of tower crane resources is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of building construction, in particular to a multi-tower crane control method and a multi-tower crane control device. BACKGROUND

[0002] The automatic driving of the tower crane is currently in the stage of single tower crane independent operation. When the delivery point and the receiving point exceed the operation information of the single tower crane, multiple tower cranes and multiple people need to cooperate to complete the task. If the control method of single independent operation is still used, after the first tower crane hoists the goods to the transfer point, the second tower crane cannot perform the transfer task due to reasons such as failure, busy, no hook, etc. Therefore, the other equipment and personnel responsible for the hoisting can only wait or terminate, which easily causes problems such as low efficiency and resource waste.

[0003] Therefore, the existing multi-tower crane control method is only applicable to the operation of a single tower crane and cannot be used in a group tower operation scenario. SUMMARY

[0004] The purpose of the embodiments of the present application is to provide a multi-tower crane control method and a multi-tower crane control device. The purpose is to solve the problem that the tower crane control method in the prior art causes low efficiency and resource waste in a group tower operation scenario.

[0005] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a multi-tower crane control method applied to a server, wherein the server is used to manage multiple tower cranes; the method comprises the following steps:

[0006] Obtaining delivery point position information and receiving point position information;

[0007] In response to a hoisting application instruction, based on the delivery point position information, the receiving point position information and the operation information of each tower crane, an effective path is determined, and the effective path includes multiple transfer points, and each transfer point corresponds to a tower crane;

[0008] Based on the effective path, a hoisting task is generated, and based on the hoisting task, each tower crane in the effective path is controlled to complete the hoisting task.

[0009] In the embodiments of the present application, the effective path is determined based on the delivery point position information, the receiving point position information and the operation information of each tower crane, which comprises the following steps:

[0010] Based on the delivery point position information, the receiving point position information and the operation information of each tower crane, at least one effective reachable path is determined;

[0011] Based on the preset path selection rule, the optimal path is selected from the at least one effective reachable path to obtain the effective path.

[0012] In the embodiment of the present application, the at least one effective reachable path is determined based on the delivery point position information, the receiving point position information and the operation information of each tower crane, and comprises:

[0013] A1: determining the tower crane at the starting transfer point and the tower crane at the ending transfer point based on the delivery point position information, the receiving point position information and the operation information of each tower crane, and taking the tower crane at the starting transfer point as the tower crane at the current transfer point;

[0014] A2: determining the tower crane at the next transfer point from the plurality of tower cranes based on the operation information of each tower crane and the tower crane at the current transfer point, with the effective overlapping area between the tower crane and the tower crane at the current transfer point and the normal state of the tower crane as constraint conditions;

[0015] A3: judging whether the tower crane at the next transfer point is the tower crane at the ending transfer point;

[0016] A4: obtaining the tower crane at each transfer point and generating at least one effective reachable path based on the tower crane at each transfer point, in the case that the tower crane at the next transfer point is determined as the tower crane at the ending transfer point;

[0017] A5: taking the tower crane at the next transfer point as the tower crane at the current transfer point and jumping to execute A2, in the case that the tower crane at the next transfer point is determined as not being the tower crane at the ending transfer point.

[0018] In the embodiment of the present application, the tower crane at the next transfer point is determined from the plurality of tower cranes based on the operation information of each tower crane and the tower crane at the current transfer point, with the effective overlapping area between the tower crane and the tower crane at the current transfer point and the normal state of the tower crane as constraint conditions, and comprises:

[0019] filtering out the current tower crane and the tower crane at the determined transfer point from the plurality of tower cranes to obtain a plurality of candidate tower cranes;

[0020] determining the tower crane at the next transfer point based on the operation information of each candidate tower crane and the tower crane at the current transfer point, with the effective overlapping area between the tower crane and the tower crane at the current transfer point and the normal state of the tower crane as constraint conditions.

[0021] In the embodiment of the present application, the optimal path is selected from the at least one effective reachable path based on the preset path selection rule to obtain an effective path, and comprises:

[0022] calculating the cost of each effective reachable path based on the number of tower cranes in each effective reachable path, and taking the effective reachable path with the lowest cost as the effective path.

[0023] In the embodiment of the present application, in step A1, the tower crane at the starting transfer point and the tower crane at the ending transfer point are determined based on the delivery point location information, the receiving point location information and the operation information of each tower crane, and the method comprises the following steps:

[0024] The delivery point tower crane and the receiving point tower crane are determined based on the delivery point location information, the receiving point location information and the operation information of each tower crane.

[0025] Either of the delivery point tower crane and the receiving point tower crane is taken as the tower crane at the starting transfer point, and the other is taken as the tower crane at the ending transfer point.

[0026] In the embodiment of the present application, the tower crane in the effective path is controlled to complete the lifting task based on the lifting task, and the method comprises the following steps:

[0027] The lifting task is sent to the operator of each tower crane in the effective path.

[0028] The confirmation information fed back by the operator of each tower crane is obtained.

[0029] When all the confirmation information is the confirmation, the end effector of the corresponding tower crane is controlled to run to the transfer point, so that the operator completes the lifting operation according to the lifting task.

[0030] In the embodiment of the present application, the method further comprises the following steps:

[0031] When there is no confirmation of the operator of each tower crane, the tower crane whose operator has no confirmation is determined, the effective reachable path containing the tower crane whose operator has no confirmation is removed from the plurality of effective reachable paths to obtain the remaining effective reachable path, the optimal path is selected from the remaining effective reachable path based on the preset path selection rule to obtain a new effective path.

[0032] Based on the new effective path, a new lifting task is generated, and the tower crane in the new effective path is controlled to complete the lifting task based on the new lifting task.

[0033] In the embodiment of the present application, the optimal path is selected from the remaining effective reachable path based on the preset path selection rule to obtain a new effective path, and the method comprises the following steps:

[0034] When the remaining effective reachable path is not empty, the optimal path is selected from the remaining effective reachable path based on the preset path selection rule to obtain a new effective path.

[0035] When the remaining effective reachable path is empty, the result information is generated based on the tower crane whose operator has no confirmation, and the result information is sent to the task initiator.

[0036] The second aspect of the present application provides a multi-tower crane control device applied to a server for managing a plurality of tower cranes, the device comprising:

[0037] an acquisition module for acquiring delivery point location information and pickup point location information;

[0038] a path module for determining an effective path based on the delivery point location information, the pickup point location information and operation information of each tower crane in response to a hoisting application instruction, the effective path including a plurality of transfer points, each transfer point corresponding to a tower crane;

[0039] a sending module for generating a hoisting task based on the effective path and controlling each tower crane in the effective path to complete the hoisting task based on the hoisting task.

[0040] Through the above technical solution, the delivery point location information and the pickup point location information are acquired by the server, an effective path is determined based on the delivery point location information, the pickup point location information and operation information of each tower crane in response to a hoisting application instruction, the effective path including a plurality of transfer points, each transfer point corresponding to a tower crane, a hoisting task is generated based on the effective path, and each tower crane in the effective path is controlled to complete the hoisting task based on the hoisting task. The server determines an effective path including a plurality of transfer points among a plurality of tower cranes, and then controls the tower crane at each transfer point in the effective path to complete the hoisting task, thereby realizing group tower control by the server, improving hoisting efficiency and ensuring effective use of tower crane resources.

[0041] Other features and advantages of the embodiments of the present application will be described in detail in the following specific implementation part. BRIEF DESCRIPTION OF DRAWINGS

[0042] The accompanying drawings are included to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used together with the following specific implementation to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the drawings:

[0043] Figure 1 Fig. 1 schematically shows a flowchart of a multi-tower crane control method according to an embodiment of the present application;

[0044] Figure 2 Fig. 3 schematically shows a process of planning an effective reachable path according to an embodiment of the present application Figure 1 ;

[0045] Figure 3 Fig. 4 schematically shows a process of planning an effective reachable path according to an embodiment of the present application Figure 2 ;

[0046] Figure 4 Fig. 1 schematically shows a structural schematic diagram of a multi-tower machine control device according to an embodiment of the present application;

[0047] Figure 5 Fig. 4 schematically shows an internal structure diagram of a computer device according to an embodiment of the present application.

[0048] Legend of reference signs

[0049] 410 - acquisition module; 420 - path module; 430 - 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

[0050] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. It should be understood that the specific embodiments described herein are only used to explain and illustrate the embodiments of the present application and should not be used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0051] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0052] In addition, if the embodiments of the present application involve descriptions such as "first", "second", etc., the descriptions of "first", "second", etc. are only for description purposes and should not be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that a person of ordinary skill in the art can realize it, and when the combination of technical solutions contradicts each other or cannot be realized, it should be considered that the combination of technical solutions does not exist and is not within the scope of protection claimed by the present application.

[0053] Figure 1 Fig. 1 schematically shows a structural schematic diagram of a multi-tower machine control device according to an embodiment of the present application; Figure 1As shown, the embodiment provides a multi-tower crane control method, applied to a server for managing multiple tower cranes; the method comprises the following steps:

[0054] Step 210: Obtain the delivery point position information and the pickup point position information;

[0055] In this embodiment, the work site can have a server, multiple tower cranes and multiple remote controllers. Among them, the server is mainly responsible for centralized management of multiple tower cranes and multiple remote controllers, and the tower crane and the remote controller are mainly responsible for task execution. The above-mentioned delivery point position information can include delivery location coordinates, and the above-mentioned pickup point position information can include pickup location coordinates. The above-mentioned obtaining can be sent by the remote controller, such as setting remote controllers at the delivery point and the pickup point respectively, and the remote controller can send the coordinate information to the server; or it can be obtained by the operator from the tower crane management server.

[0056] In the need for multi-tower crane cooperation to complete the transfer task, the server has the information of the site map, all remote controllers and all tower cranes, can plan a safe and efficient reachable path in real time by integrating all information, and coordinate the operation personnel of the transfer tower crane and the handheld remote controller to be in place in advance, seamlessly complete long-distance hoisting.

[0057] Step 220: In response to the hoisting application instruction, based on the delivery point position information, the pickup point position information and the work information of each tower crane, an effective path is determined, the effective path includes multiple transfer points, and each transfer point corresponds to a tower crane;

[0058] In this embodiment, after the manager selects the delivery point position and the pickup point position, the server initiates a hoisting application, and the hoisting application instruction is an instruction for applying for hoisting, which can be sent by the manager operating the remote controller. The server can obtain the position and contour information of buildings, machines, vehicles, etc. within the sensing range of each tower crane radar or video, and each tower crane and remote controller can report their own information through the network, thereby obtaining the work information of each tower crane and the remote controller information. Since multiple tower cranes and multiple personnel are involved, when the server receives the hoisting request of multi-tower crane cooperation, it can find an effective path according to the delivery point position information, the pickup point position information and the work information of each tower crane. The effective path includes multiple transfer points, and each transfer point corresponds to a tower crane. The operator of the tower crane on the path can also be notified after the effective path is found, and the feasibility of the path can be finally judged according to the feedback of the involved operators.

[0059] In some embodiments, the effective path is determined based on the delivery point position information, the pickup point position information and the work information of each tower crane, comprising the following steps:

[0060] Firstly, at least one effective reachable path is determined based on the delivery point location information, the receiving point location information and the operation information of each tower crane;

[0061] In the embodiment, since there are multiple tower cranes, at least one effective reachable path can be determined when determining the effective path. The effective reachable path refers to a route that can complete the hoisting task from the delivery point to the receiving point. When determining, the starting point and the ending point of the path can be determined according to the delivery point location information and the receiving point location information, and the tower cranes located between the starting point and the ending point are determined. Then, at least one effective reachable path is determined according to the operation information of each working tower crane.

[0062] In some embodiments, in order to quickly determine the effective reachable path, the step of determining at least one effective reachable path based on the delivery point location information, the receiving point location information and the operation information of each tower crane includes the following steps:

[0063] Step A1: determining the tower crane of the starting transfer point and the tower crane of the ending transfer point based on the delivery point location information, the receiving point location information and the operation information of each tower crane, and taking the tower crane of the starting transfer point as the tower crane of the current transfer point;

[0064] In the embodiment, the multiple tower cranes in the effective reachable path correspond to multiple transfer points, and the tower crane of the starting transfer point and the tower crane of the ending transfer point can be determined first.

[0065] In step A1, the step of determining the tower crane of the starting transfer point and the tower crane of the ending transfer point based on the delivery point location information, the receiving point location information and the operation information of each tower crane includes:

[0066] Firstly, the delivery point tower crane and the receiving point tower crane are determined based on the delivery point location information, the receiving point location information and the operation information of each tower crane;

[0067] In the embodiment, based on the delivery point location information, all normal tower cranes with overlapping areas can be found in the surrounding area, and the tower cranes with faults and the tower cranes with overlapping areas that are not reachable are ignored. The tower cranes that meet the condition are the delivery point tower cranes. Correspondingly, based on the receiving point location information, all normal tower cranes with overlapping areas can be found in the surrounding area, and the tower cranes with faults and the tower cranes with overlapping areas that are not reachable are ignored. The tower cranes that meet the condition are the receiving point tower cranes. It should be noted that the number of the above-mentioned delivery point tower cranes and receiving point tower cranes can be one or more, which is determined according to the actual operation scene.

[0068] Secondly, any one of the delivery point tower crane and the receiving point tower crane is taken as the tower crane of the starting transfer point, and the other is taken as the tower crane of the ending transfer point.

[0069] In the embodiment, the shipping point tower crane can be the tower crane of the starting transfer point or the tower crane of the ending transfer point, and correspondingly, the receiving point tower crane can be the tower crane of the starting transfer point or the tower crane of the ending transfer point.

[0070] By determining the shipping point tower crane and the receiving point tower crane based on the shipping point location information, the receiving point location information and the operation information of each tower crane, the tower crane of the starting transfer point and the tower crane of the ending transfer point can be quickly determined, thereby helping to quickly determine the effective reachable path.

[0071] Step A2: determining the tower crane of the next transfer point from the plurality of tower cranes based on the operation information of each tower crane and the tower crane of the current transfer point, with the constraint that the tower crane has effective overlapping area with the operation range of the tower crane of the current transfer point and is normal.

[0072] In the embodiment, after the tower crane of the current transfer point is determined, the tower crane of the next transfer point can be found from the remaining tower cranes, which has effective overlapping area with the operation range of the tower crane of the current transfer point and is normal. The normal tower crane refers to the tower crane without fault. The effective overlapping area with the operation range of the tower crane of the current transfer point refers to the overlapping area with the operation range of the tower crane of the current transfer point, and the overlapping area can be reached.

[0073] In some embodiments, in order to improve efficiency, the step of determining the tower crane of the next transfer point from the plurality of tower cranes based on the operation information of each tower crane and the tower crane of the current transfer point, with the constraint that the tower crane has effective overlapping area with the operation range of the tower crane of the current transfer point and is normal, includes the following steps:

[0074] Firstly, the current tower crane and the tower crane of the determined transfer point are filtered out from the plurality of tower cranes to obtain a plurality of candidate tower cranes.

[0075] In the embodiment, since the current tower crane and the tower crane of the determined transfer point cannot be used as the tower crane of other transfer points, these tower cranes can be removed from the plurality of tower cranes to obtain a plurality of candidate tower cranes when determining the tower crane of the next transfer point.

[0076] Secondly, the tower crane of the next transfer point is determined based on the operation information of each candidate tower crane and the tower crane of the current transfer point, with the constraint that the tower crane has effective overlapping area with the operation range of the tower crane of the current transfer point and is normal.

[0077] In the embodiment, further search for the tower crane in the plurality of candidate tower cranes which has effective overlapping area with the tower crane operation range of the current transfer point and is normal. In the specific implementation, the search can be performed by establishing tables, establishing two tables respectively, creating a list of tower cranes to be checked and putting the tower crane which needs to calculate the overlapping area with the surrounding tower cranes into the list, creating a list of tower cranes which have been checked and putting the tower crane which has calculated the overlapping area with the surrounding tower cranes into the list, removing the tower cranes in the two tables from the plurality of tower cranes to obtain the plurality of candidate tower cranes, so that the repeated calculation can be avoided.

[0078] By screening out the current tower crane and the tower crane of the determined transfer point from the plurality of tower cranes to obtain the plurality of candidate tower cranes, the tower crane which has calculated the overlapping area with the surrounding tower cranes and the current tower crane can be removed, so that the repeated calculation can be avoided, the tower crane of the next transfer point can be quickly determined, and the calculation efficiency is improved.

[0079] Step A3: judging whether the tower crane of the next transfer point is the tower crane of the end transfer point;

[0080] Step A4: in the case that the tower crane of the next transfer point is the tower crane of the end transfer point, obtaining the tower crane of each transfer point and generating at least one effective reachable path based on the tower crane of each transfer point;

[0081] In the embodiment, if the tower crane of the next transfer point is the tower crane of the end transfer point, it is indicated that the search for the tower crane is completed, the tower crane of each transfer point can be obtained, and at least one effective reachable path can be obtained by combining the tower crane of each transfer point.

[0082] Step A5: in the case that the tower crane of the next transfer point is not the tower crane of the end transfer point, taking the tower crane of the next transfer point as the tower crane of the current transfer point and jumping to execute step A2.

[0083] In the embodiment, if the tower crane of the next transfer point is not the tower crane of the end transfer point, it is indicated that the search for the tower crane is not completed, the above steps A2-A3 are repeatedly cycled, the tower crane of the transfer point is sequentially searched, and the tower crane of the next transfer point is the tower crane of the end transfer point.

[0084] Please refer to Figures 2-3 , Figure 2 The process of planning the effective reachable path according to the embodiment of the application is schematically shown Figure 1 ; Figure 3 The process of planning the effective reachable path according to the embodiment of the application is schematically shown Figure 2 . The process of planning the effective reachable path by the server according to the delivery point position and the pickup point position includes:

[0085] (1) create a list of tower machines to be checked, and put the tower machine which needs to calculate the overlapping area with the surrounding tower machine into the list;

[0086] (2) create a list of tower machines which have been checked, and put the tower machine which has calculated the overlapping area with the surrounding tower machine into the list, to avoid repeated calculation;

[0087] (3) firstly, take the delivery point tower machine as TC1 to find all the normal tower machines which have overlapping area with TC1, ignore the tower machines which are in fault or have no reachable overlapping area, add the found tower machines to the list of tower machines to be checked, and put TC1 into the list of tower machines which have been checked, connect TC1 and the tower machines in the list of tower machines to be checked to form several connection paths;

[0088] (4) based on the updated list of tower machines to be checked, find all the normal tower machines which have overlapping area with the tower machines to be checked, ignore the tower machines which are in fault or have no reachable overlapping area, add the found tower machines to the list of tower machines to be checked, and move the tower machines in the previous list of tower machines to be checked to the list of tower machines which have been checked, and record the latest connection paths;

[0089] (5) repeat the above process, and find the tower machines in turn until the end point tower machine is found, then complete the search, and possibly obtain several effective reachable paths to form a list of effective reachable paths.

[0090] By determining the tower machine at the starting transfer point and the tower machine at the ending transfer point based on the delivery point location information, the collection point location information and the operation information of each tower machine, and starting from the tower machine at the starting transfer point or the tower machine at the ending transfer point, the tower machines are found in turn and circularly until the tower machine at the current transfer point which has effective overlapping area with the operation range of the current tower machine and is normal, to obtain the tower machine at the next transfer point, until the end point tower machine is found, so that the effective reachable path can be accurately found.

[0091] It should be noted that in the process of finding the tower machine, the tower machine at each transfer point can be one or more.

[0092] Then, based on the preset path selection rule, the optimal path is selected from the at least one effective reachable path to obtain the effective path.

[0093] In this embodiment, which effective reachable path is preferentially selected can be selected according to the preset path selection rule, for example, the path selection rule can be that the fewer the number of tower machines passed by the path or the more the number of idle tower machines, or the tower machine has a variety of strategies such as the surrounding available tower machine. The specific selection can be determined according to the actual situation.

[0094] In some embodiments, the selecting an optimal path from the at least one effective reachable path based on the preset path selection rule comprises: calculating a cost of each effective reachable path based on a number of tower cranes in each effective reachable path, and selecting an effective path as the effective reachable path with the lowest cost.

[0095] In this embodiment, the number of tower cranes passed through by each effective reachable path is recorded as a cost G, and the cost of each effective reachable path is obtained, and the path with the smallest G value is selected as the effective path.

[0096] By calculating the number of tower cranes in each effective reachable path, the cost of each effective reachable path can be determined, thereby facilitating the selection of the path with the lowest cost.

[0097] By first determining the effective reachable path, the optimal path can be selected from the effective reachable path as the effective path according to actual needs, so that the obtained effective path can meet the user demand.

[0098] Step 230: generating a hoisting task based on the effective path, and controlling each tower crane in the effective path to complete the hoisting task based on the hoisting task.

[0099] In this embodiment, after the effective path is obtained, the hoisting task can be issued to the operator closest to the involved tower crane, and the tower crane server in the idle state on the effective path issues an instruction to automatically operate the hook to the transfer point to wait and notify the operator in advance to take a position, so as to control each tower crane in the effective path to complete the hoisting task.

[0100] In some embodiments, the controlling each tower crane in the effective path to complete the hoisting task based on the hoisting task comprises:

[0101] First, the hoisting task is sent to the operator of each tower crane hoisting task in the effective path.

[0102] In this embodiment, the operator of each tower crane hoisting task in the effective path is the operation task of controlling each tower crane in the effective path, which can be determined after the effective path is determined.

[0103] Then, the confirmation information fed back by the operator of each tower crane hoisting task is obtained.

[0104] In this embodiment, after receiving the hoisting task, the operator determines whether to perform the work, and if yes, feeds back the confirmation, otherwise does not feed back.

[0105] Then, in the case that all the confirmation information is confirmation, the corresponding tower crane end effector is controlled to run to the transfer point, so that the operator completes the lifting operation according to the lifting task.

[0106] In this embodiment, when all the tower cranes on the path have an operator to determine the work, it is determined that the lifting task is effective, and the task initiator is informed. The tower crane server in an idle state on the path issues an instruction to make the end effector such as a hook automatically run to the vicinity of the transfer point and wait and notify the operator in advance. All operators can check the current location of the goods and the tower crane information.

[0107] Then, in the case that the operator of each tower crane lifting task does not confirm, the tower crane whose operator does not confirm is determined, the effective reachable paths containing the tower crane whose operator does not confirm are removed from the multiple effective reachable paths to obtain remaining effective reachable paths, and the optimal path is selected from the remaining effective reachable paths based on the preset path selection rule to obtain a new effective path.

[0108] In this embodiment, if the operator of each tower crane lifting task does not confirm, for example, when no one on the path determines to perform the work, the tower crane whose operator does not confirm is determined, and then the effective reachable paths are traversed, the effective reachable paths containing the tower crane are skipped, the optimal path is selected from the remaining effective paths, and the lifting task is reissued.

[0109] In some embodiments, considering that there may be no remaining effective reachable path, the optimal path is selected from the remaining effective reachable paths based on the preset path selection rule to obtain a new effective path, which includes the following steps:

[0110] First, in the case that the remaining effective reachable path is not empty, the optimal path is selected from the remaining effective reachable paths based on the preset path selection rule to obtain a new effective path.

[0111] In this embodiment, the remaining effective reachable path is not empty, which means that an effective path can still be determined.

[0112] Second, in the case that the remaining effective reachable path is empty, the result information is generated based on the tower crane whose operator does not confirm, and the result information is sent to the task initiator.

[0113] In the embodiment, because no one determines to perform the work of the certain tower crane, the current remaining effective reachable path is empty, the current effective path cannot be executed, the tower crane can be recorded, the result information is generated, and the result is fed back to the task initiator. If the task initiator selects to re-plan, the tower crane can be marked as unavailable during planning, the tower crane is skipped during path searching, and the effective path is obtained again. The task initiator can also directly assign an operator to the tower crane without confirmation after receiving the result.

[0114] By generating the result information based on the tower crane without confirmation of the operator and sending the result information to the task initiator when the remaining effective reachable path is empty, the task initiator can be timely notified, so that the task initiator can take emergency measures in time, which is helpful for execution of the hoisting task.

[0115] Finally, a new hoisting task is generated based on the new effective path, and each tower crane in the new effective path is controlled to complete the hoisting task based on the new hoisting task.

[0116] By removing the effective reachable path containing the tower crane without confirmation of the operator from the plurality of effective reachable paths when the operator without confirmation exists for each tower crane hoisting task, selecting the optimal path from the remaining effective reachable paths to obtain the new effective path, and then generating a new hoisting task based on the new effective path and controlling each tower crane in the new effective path to complete the hoisting task based on the new hoisting task, the reliability of hoisting task completion is improved.

[0117] Please refer to Figures 2-3 In the above example, if the tower crane on each effective reachable path is recorded as a cost G, the path with the minimum G value is preferentially selected, and the task is issued to the operator closest to the involved tower crane. When no one determines to perform the work of a certain tower crane on the path, the effective path list is traversed, the path containing the tower crane is skipped, the path with the lowest G value is selected from the remaining paths, and the task is reissued. If there is no executable path in the current effective reachable path list because no one determines to perform the work of a certain tower crane, the tower crane is recorded, and the result is fed back to the initiator. If the initiator selects to re-plan, the tower crane is marked as unavailable during planning, the tower crane is skipped during path searching, and the effective reachable path list is re-generated. When all the tower cranes on the path have an operator to determine the work, it is determined that the task is valid, and the task initiator is informed. The tower crane server in the idle state on the path issues an instruction to automatically run the hook to the transfer point and waits for the operator to be in place in advance. All operators can view the current location of the goods and the tower crane information.

[0118] In the implementation process, the server obtains the delivery point position information and the receiving point position information, determines an effective path based on the delivery point position information, the receiving point position information and the operation information of each tower crane in response to the hoisting application instruction, the effective path includes a plurality of transfer points, each transfer point corresponds to a tower crane, generates a hoisting task based on the effective path, and controls each tower crane in the effective path to complete the hoisting task based on the hoisting task. The server determines the effective path including a plurality of transfer points in the plurality of tower cranes, and then controls the tower crane at each transfer point in the effective path to complete the hoisting task, thereby realizing the group tower control strategy by using the server, improving the hoisting efficiency, and ensuring the effective use of the tower crane resources.

[0119] Referring to Figure 4 , Figure 4 A structure diagram of a multi-tower crane control device according to an embodiment of the present application is schematically shown. The embodiment further provides a multi-tower crane control device applied to a server for managing a plurality of tower cranes. The device includes an acquisition module 410, a path module 420 and a sending module 430, wherein:

[0120] The acquisition module 410 is configured to acquire delivery point position information and receiving point position information.

[0121] The path module 420 is configured to determine an effective path based on the delivery point position information, the receiving point position information and the operation information of each tower crane in response to a hoisting application instruction, the effective path includes a plurality of transfer points, each transfer point corresponds to a tower crane.

[0122] The sending module 430 is configured to generate a hoisting task based on the effective path, and control each tower crane in the effective path to complete the hoisting task based on the hoisting task.

[0123] The multi-tower crane control device includes a processor and a memory, and the acquisition module 410, the path module 420 and the sending module 430 are stored in the memory as program units, and the processor executes the program units stored in the memory to realize the corresponding functions.

[0124] The processor includes a core, and the core calls the corresponding program units from the memory. The core can be set to one or more, and the tower crane control in the group tower operation scene is realized by adjusting the core parameters.

[0125] The memory can include a non-permanent memory in a computer readable medium, a random access memory (RAM) and / or a non-volatile memory such as a read-only memory (ROM) or a flash memory (flash RAM), and the memory includes at least one memory chip.

[0126] 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 5 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 via 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 multi-tower crane control method is implemented. The display screen A04 of the computer device can be a liquid crystal display or an electronic ink display screen, and the input device A05 of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse.

[0127] Those skilled in the art will understand that Figure 5 The structure shown in the figure is merely a block diagram of a portion of the structure related to the solution of the present invention and does not constitute a limitation on the computer device to which the solution of the present invention is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0128] In one embodiment, the multi-tower crane control device provided by the present invention can be implemented in the form of a computer program. The computer program can be used in Figure 5 The computer device shown in FIG. 1 is run on the computer device shown in FIG. The memory of the computer device can store various program modules constituting the multi-tower crane control device, such as: Figure 4 The illustrated acquisition module 410, path module 420 and sending module 430. The computer program composed of various program modules enables the processor to execute the steps of the multi-tower crane control method of various embodiments of the present invention described in this specification.

[0129] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0130] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0131] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0132] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0133] In one typical configuration, the computing device includes one or more processors (CPU's), input / output interfaces, network interfaces, and memory.

[0134] The memory can include non-persistent memory and / or persistent memory, such as flash memory, read-only memory (ROM), and / or volatile or non-volatile random access memory (RAM), among others. The memory is an example of computer-readable media.

[0135] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can implement information storage by any method or technology. The 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 technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0136] It should also be noted that the terms "comprising", "containing", or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, method, article or apparatus that comprises a list of elements does not only include those elements, but can also include other elements not expressly listed or inherent to such process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0137] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the scope of claims of the present application.

Claims

1. A multi-tower crane control method, characterized in that: Applied to a server, the server is used to manage multiple tower cranes; the method includes: Get the shipping point location information and the receiving point location information; In response to the hoisting application instruction, determining a valid path based on the shipping point location information, the receiving point location information, and the operation information of each tower crane, wherein the valid path includes a plurality of transfer points, each transfer point corresponding to a tower crane; Based on the effective path, a lifting task is generated, and based on the lifting task, each tower crane in the effective path is controlled to complete the lifting task; The determining of a valid path based on the shipping point location information, the receiving point location information, and the operation information of each tower crane includes: Determine at least one valid reachable path based on the shipping point location information, the receiving point location information, and operation information of each tower crane; Based on a preset path selection rule, an optimal path is selected from the at least one valid reachable path to obtain a valid path; The determining of at least one valid reachable path based on the shipping point location information, the receiving point location information, and the operation information of each tower crane includes: A1: Based on the shipping point location information, the receiving point location information, and the operation information of each tower crane, determine the tower crane at the starting transfer point and the tower crane at the ending transfer point, and use the tower crane at the starting transfer point as the tower crane at the current transfer point; A2: Under the constraint that the operating range of the tower crane overlaps effectively with the tower crane at the current transfer point and the tower crane is normal, the tower crane at the next transfer point is determined from the multiple tower cranes based on the operating information of each tower crane and the tower crane at the current transfer point. A3: Determine whether the tower crane at the next transfer point is the tower crane at the final transfer point; A4: When it is determined that the tower crane at the next transfer point is the tower crane at the final transfer point, obtaining tower cranes at each transfer point and generating at least one valid reachable path based on the tower cranes at each transfer point; A5: When it is determined that the tower crane at the next transfer point is not the tower crane at the end transfer point, the tower crane at the next transfer point is used as the tower crane at the current transfer point, and the process jumps to A2.

2. The method according to claim 1, characterized in that The method includes: determining a tower crane at a next transfer point from the plurality of tower cranes based on the operation information of each tower crane and the tower crane at the current transfer point, with the operating range of the tower crane and the tower crane at the current transfer point effectively overlapping and the tower crane being normal as a constraint condition, including: Filtering out the current tower crane and tower cranes at the determined transfer points from the multiple tower cranes to obtain multiple tower cranes to be selected; With the constraints that the operating range of the tower crane and the tower crane at the current transfer point has an effective overlapping area and the tower crane is normal, the tower crane at the next transfer point is determined based on the operating information of each candidate tower crane and the tower crane at the current transfer point.

3. The method according to any one of claims 1-2, characterized in that The step of selecting an optimal path from the at least one valid reachable path based on a preset path selection rule to obtain a valid path includes: Based on the number of tower cranes in each valid reachable path, the cost of each valid reachable path is calculated, and the valid reachable path with the lowest cost is taken as the valid path.

4. The method according to claim 1, wherein In step A1, the tower crane at the starting transfer point and the tower crane at the ending transfer point are determined based on the shipping point location information, the receiving point location information, and the operation information of each tower crane, including: Determine the tower crane at the shipping point and the tower crane at the receiving point based on the shipping point location information, the receiving point location information, and the operation information of each tower crane; Either one of the tower crane at the shipping point or the tower crane at the receiving point is used as the tower crane at the starting transfer point, and the other one is used as the tower crane at the ending transfer point.

5. The method according to claim 1, wherein The controlling each tower crane in the effective path to complete the lifting task based on the lifting task includes: Sending the lifting task to operators of each tower crane lifting task in the effective path; Obtain confirmation information from operators of each tower crane lifting task; When the confirmation information is all confirmed, the corresponding tower crane end effector is controlled to run to the transfer point, so that the operator can complete the lifting operation according to the lifting task.

6. The method according to claim 5, characterized in that Also includes: In the case where there are tower crane hoisting tasks that have not been confirmed by operators, determining the tower cranes that have not been confirmed by the operators, removing the valid reachable paths including the tower cranes that have not been confirmed by the operators from multiple valid reachable paths to obtain remaining valid reachable paths, and selecting the optimal path from the remaining valid reachable paths based on a preset path selection rule to obtain a new valid path; Based on the new effective path, a new lifting task is generated, and based on the new lifting task, each tower crane in the new effective path is controlled to complete the lifting task.

7. The method according to claim 6, characterized in that The step of selecting the optimal path from the remaining valid reachable paths based on a preset path selection rule to obtain a new valid path includes: When the remaining valid reachable paths are not empty, selecting the optimal path from the remaining valid reachable paths based on a preset path selection rule to obtain a new valid path; In the case that the remaining valid reachable paths are empty, result information is generated based on the tower cranes that have not been confirmed by the operator, and the result information is sent to the task initiator.

8. A multi-tower crane control device, characterized in that: Applied to a server, the server is used to manage multiple tower cranes; the device includes: The acquisition module is used to obtain the location information of the shipping point and the receiving point; A path module, for responding to a lifting application instruction, and determining a valid path based on the shipping point location information, the receiving point location information and the operating information of each tower crane, wherein the valid path includes a plurality of transfer points, and each transfer point corresponds to a tower crane; wherein the determining of a valid path based on the shipping point location information, the receiving point location information and the operating information of each tower crane comprises: determining at least one valid reachable path based on the shipping point location information, the receiving point location information and the operating information of each tower crane; selecting the optimal path from the at least one valid reachable path based on a preset path selection rule to obtain a valid path; wherein the determining of at least one valid reachable path based on the shipping point location information, the receiving point location information and the operating information of each tower crane comprises: A1: determining at least one valid reachable path based on the shipping point location information, the receiving point location information and the operating information of each tower crane Point location information and the operating information of each tower crane are used to determine the tower crane at the starting transfer point and the tower crane at the ending transfer point, and the tower crane at the starting transfer point is used as the tower crane at the current transfer point; A2: With the existence of an effective overlapping area between the operating range of the tower crane and the tower crane at the current transfer point and the tower crane being normal as the constraint condition, based on the operating information of each tower crane and the tower crane at the current transfer point, the tower crane at the next transfer point is determined from the multiple tower cranes; A3: Determine whether the tower crane at the next transfer point is the tower crane at the ending transfer point; A4: When it is determined that the tower crane at the next transfer point is the tower crane at the ending transfer point, obtain the tower cranes at each transfer point, and generate at least one valid reachable path based on the tower cranes at each transfer point; A5: When it is determined that the tower crane at the next transfer point is not the tower crane at the ending transfer point, use the tower crane at the next transfer point as the tower crane at the current transfer point, and jump to execute A2; The sending module is used to generate a lifting task based on the effective path, and control each tower crane in the effective path to complete the lifting task based on the lifting task.

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