Multi-crane cooperative hoisting operation planning system and method

Abstract

The invention discloses a multi-crane cooperative hoisting operation planning system and method.The system comprises a model library module, a follow-up strategy module, a safety module, an instruction compiling module and a scheme simulation module, environment scene and building setting is conducted in the model library module, main and auxiliary crane models are selected, and corresponding working conditions and hoisting objects are set; selecting a collaborative operation follow-up strategy in the follow-up strategy module; in the action simulation process, the auxiliary crane is automatically driven to perform corresponding actions according to the selected follow-up strategy; and the instruction compiling module selects to store action instructions of the main crane and the auxiliary crane until the whole operation is completed, and then hoisting instruction extraction and instruction optimization are performed. And finally, the whole hoisting process is reproduced in a scheme simulation module, and a hoisting scheme is confirmed, so that the whole multi-machine collaborative hoisting operation planning is completed. According to the invention, simulation and prediction of each link of the hoisting operation can be realized, and the safety and the operation efficiency of the hoisting operation are effectively improved.

Description

Technical Field

[0001] The invention relates to a system and method for planning multi-crane collaborative hoisting operations, belonging to the technical field of crane intelligence. Background Art

[0002] With the continuous progress of society, hoisting operations in large-scale infrastructure construction projects such as wind power, nuclear power ports, etc. are becoming increasingly complex and challenging. In these scenarios, hoisting operations often rely on the coordination of main equipment and auxiliary equipment to ensure the smooth completion of hoisting operations. However, in actual operations, the conventional process is to operate the main equipment first, and then flexibly adjust the actions of the auxiliary equipment according to the real-time status of the load. This distributed operation mode makes it difficult to synchronize the actions of the main and auxiliary equipment, which not only significantly reduces the overall efficiency of multi-machine collaborative hoisting, but also lacks effective assessment of the safety status of the auxiliary equipment before performing subsequent actions, posing safety hazards. In fact, the occurrence of many hoisting accidents is largely attributed to the problem of asynchrony in the collaborative operation of multiple machines. Summary of the invention

[0003] In order to solve the problems of asynchronous movements, great safety hazards, low operating efficiency and high economic costs in the existing technical solutions when multiple machines work together in a complex lifting process, the present invention provides a crane multi-machine collaborative lifting operation planning system and method. The system is a simulation planning system that can simulate the multi-machine collaborative operation process, evaluate the operation safety and optimize the operation plan, thereby improving the safety, efficiency and economy of the lifting operation.

[0004] To achieve the above object, the technical solution adopted by the present invention is as follows: The present invention provides a crane multi-machine collaborative lifting operation planning system, comprising: Model library module, used to configure the background environment, related buildings and crane equipment under the background environment; A following strategy module is configured with a multi-machine collaborative following strategy algorithm, which is used for the auxiliary equipment to respond to the main equipment action in real time to complete the operation based on the multi-machine collaborative following strategy algorithm; Safety module, used to verify the safety of main and auxiliary equipment under corresponding working conditions; Instruction compilation module, used to extract and optimize the action instructions generated in the entire lifting simulation process; The scheme simulation module is used to reproduce the entire lifting process according to the action instructions optimized by the instruction compilation module, and generate a multi-machine collaborative lifting operation planning scheme.

[0005] Preferably, the model library module includes: Environmental model library, including preset port, building and wind power background environment models; Building model library, including relevant building models and suspended object models under various preset background environment models; The crane equipment model library includes three-dimensional visualized equipment dynamics models of different tonnages. The equipment dynamics model consists of motion mechanism components and a 3D model of the vehicle body. The dynamics model drives the movement of the main and auxiliary equipment.

[0006] Preferably, the model library module supports user-defined environment models and building models.

[0007] Preferably, the following strategy module pre-stores a plurality of multi-machine collaborative following strategy algorithms, and the multi-machine collaborative following strategy algorithms are obtained through data mining according to the user's requirements for the target state of the suspended object and the capabilities of the auxiliary equipment.

[0008] Preferably, the security module comprises: A performance query submodule, wherein the performance query submodule pre-configures a performance table, wherein the horizontal coordinate of the performance table is the hoisting load amplitude, and the vertical coordinate is the maximum lifting weight; The risk warning submodule is used to determine the safety of main and auxiliary equipment under corresponding working conditions, and to issue warnings and restrictions for situations that exceed the safety range.

[0009] Preferably, the instruction compiling module includes: The instruction extraction submodule is used to extract the core key instructions generated in the entire lifting simulation process; The instruction optimization submodule is used to optimize the efficiency of the core key instructions extracted by the instruction extraction submodule in the movement, amplitude change, rotation and lifting actions to obtain the final optimized instructions.

[0010] Preferably, the scheme simulation module includes: A hoisting simulation submodule is used to reproduce the entire hoisting process according to the action instructions optimized by the instruction compilation module; The scheme confirmation submodule is used to confirm the lifting scheme, generate a multi-machine collaborative lifting operation planning scheme, and issue lifting instructions.

[0011] The present invention also provides a crane multi-machine collaborative lifting operation planning method based on the above-mentioned crane multi-machine collaborative lifting operation planning system, comprising: Perform initialization configuration and divide the entire lifting process into multiple single actions. Perform the following operations for each single action: According to the initial configuration parameters, a following strategy is selected from the pre-configured multi-machine cooperative following strategy algorithms; When the main crane is operated, the auxiliary crane automatically drives the auxiliary equipment to perform corresponding actions in real time according to the selected follow-up strategy; Performing a safety check on the current actions of the main crane and the auxiliary crane; if the safety performance is not met, terminating the action of the main crane, returning to reselect the follow-up strategy until the safety check is met; If the safety check is satisfied, the current action 1 instruction of the main crane and the auxiliary crane is saved; then the next action 2 operation of the main crane is performed until all single actions of the entire lifting process are completed; After the entire lifting operation is completed, multiple saved action instructions are extracted and integrated into a complete lifting instruction to generate a multi-machine collaborative lifting operation planning plan.

[0012] Preferably, the initialization configuration includes: Creating an environmental scene model for crane operation and creating a building model under the environmental scene; Select the equipment model corresponding to the main equipment crane model and the equipment model corresponding to the auxiliary equipment model for the operation, and set the corresponding working conditions; Set the size, direction and weight of the load.

[0013] Preferably, the safety check of the current action of the main crane and the auxiliary crane comprises: The performance table in the performance query submodule is called to query the maximum lifting weight of the main crane and the auxiliary crane under the corresponding working conditions according to the current working conditions, and determine whether the load exceeds the maximum lifting weight in the performance table or a certain proportion of the maximum lifting weight set by the user; if it exceeds, it is determined that the performance requirements are not met, and the main crane action is terminated, and the follow-up strategy is returned to be reselected; If it is met, the risk warning submodule is called to calculate the hoisting rate and pad pressure based on the current equipment status and internal inherent parameters, and obtain the tipping moment. If it exceeds the set range, the performance requirements are not met, the main crane action is terminated, the return is returned to reselect the follow-up strategy, and an alarm is issued.

[0014] Preferably, after the entire lifting operation is completed, the method further includes: After deleting invalid instructions from the extracted and saved action instructions, the path of the remaining instructions is restored, and then the core key positions involved in the lifting and obstacle avoidance process are extracted, and the core lifting instructions for point-to-point realization are generated based on these key positions.

[0015] Preferably, the extracted and saved multiple action instructions are integrated into a complete lifting instruction to generate a multi-machine collaborative lifting operation planning scheme, including: According to the finally optimized action instructions, a complete lifting instruction is integrated; Based on the integrated complete lifting instructions, the entire lifting process is reproduced; Based on the reproduction results, the multi-machine collaborative lifting operation planning scheme is confirmed and generated.

[0016] The beneficial effects brought by the technical solution of the present invention are: (1) The present invention provides a crane multi-machine collaborative hoisting operation planning system, which can realize the whole process of scene creation, main and auxiliary crane model selection, auxiliary hoisting strategy selection, hoisting process safety verification, main and auxiliary equipment hoisting simulation and reproduction, and hoisting plan confirmation. The system can fully simulate the whole process of multi-machine collaborative operation, accurately evaluate the safety of the operation, and optimize the operation plan accordingly. It can realize the simulation and prediction of each link of the hoisting operation, effectively improving the safety and efficiency of the hoisting operation.

[0017] (2) The present invention provides a crane multi-machine collaborative lifting operation planning method, which divides the entire lifting process into multiple single actions, performs safety verification on each action, and continuously adjusts the multi-machine collaborative follow-up strategy through repeated iterations, and finally forms a complete multi-machine collaborative lifting planning scheme. The present invention realizes multi-machine collaborative operation and improves operation efficiency.

[0018] (3) By adopting the method of the present invention, the following strategy can be adjusted at any time during the lifting process. The final complete instruction can be composed of multiple single instructions with different following strategies, thereby realizing multi-machine collaborative operation and solving the problem of asynchronous movement of the main and auxiliary cranes.

[0019] (4) By adopting the method of the present invention, each action of the main and auxiliary cranes is safety checked during the planning of the multi-machine lifting plan, thereby ensuring the safety of each link of the lifting operation.

[0020] (5) With the system of the present invention, the solution simulation module reproduces the entire hoisting process of the crane in 3D model, and cooperates with the scene creation in the model library module to fully and intuitively understand the entire hoisting process. It also reduces the repetition and testing of the actual vehicle and improves economic efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of a process flow of a method for planning a multi-crane collaborative hoisting operation provided by the present invention; Figure 2 A schematic diagram of the framework of a multi-crane collaborative lifting operation planning system provided by the present invention. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments and the accompanying drawings. Here, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0023] It should also be noted that, in order to avoid obscuring the present invention due to unnecessary details, only structures and / or processing steps closely related to the solutions according to the present invention are shown in the accompanying drawings, while other details that are not closely related to the present invention are omitted.

[0024] It should be emphasized that the term “include / comprises” when used herein refers to the presence of features, elements, steps or components, but does not exclude the presence or addition of one or more other features, elements, steps or components.

[0025] It should also be noted that, unless otherwise specified, the term “connection” herein may refer not only to a direct connection but also to an indirect connection with an intermediate.

[0026] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the accompanying drawings, the same reference numerals represent the same or similar components, or the same or similar steps.

[0027] It should be emphasized here that the step marks mentioned below are not intended to limit the order of the steps, but it should be understood that the steps can be executed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be executed simultaneously.

[0028] See also Figure 2 An embodiment of the present invention provides a crane multi-machine collaborative lifting operation planning system, the system includes a model library module, a follow-up strategy module, a safety module, an instruction compilation module and a solution simulation module, The model library module includes an environmental model library, a building model library, and a crane equipment model library. The environmental model library includes preset large-scale background environment models such as ports, buildings, and wind power, and supports user-defined environmental models; the building model library includes preset building models related to hoisting environments such as ports, buildings, and wind power, and supports user-defined building models; the crane equipment model library includes three-dimensional visualization equipment dynamic models involving different tonnages. A single equipment model consists of a motion mechanism component and a 3D model of the vehicle body. The motion is driven by a dynamic model to achieve movement, amplitude change, rotation, lifting and other actions. It should be noted that as the project progresses, the hoisted object also becomes a building, so the building model library contains buildings and hoisted objects.

[0029] The following strategy module pre-stores a variety of multi-machine collaborative following strategy algorithms, which are used by the auxiliary equipment to respond to the main equipment action in real time to complete the operation. It should be noted that the multi-machine collaborative following strategy algorithm is obtained through data mining based on the user's requirements for the target state of the hoisted object and the capabilities of the auxiliary equipment.

[0030] The safety module includes a performance query submodule and a risk warning submodule. The performance query submodule is used to query the maximum lifting performance of the main and auxiliary equipment of the crane under the corresponding working conditions; the risk warning submodule is used to judge the safety of the main and auxiliary equipment under the corresponding working conditions, including data such as hoisting rate, pad pressure, tipping torque, etc., and to warn and limit situations that exceed the safety range.

[0031] It should be noted that a performance table is pre-configured in the performance query submodule, the horizontal axis of the performance table is the load amplitude, and the vertical axis is the lifting performance (maximum lifting weight).

[0032] It should be noted that the risk warning submodule calculates the load rate and pad pressure based on the current equipment status and internal inherent parameters. If these data exceed a certain range, an alarm will be issued. The load rate refers to the ratio of the load weight to the maximum rated lifting weight, which is set by the user; the pad pressure is the current actual ground pressure. If it exceeds the actual ground pressure, an alarm will be issued (specified by the user); the tipping torque is the maximum tolerable torque of the current vehicle equipment, which is related to the equipment counterweight and its own working conditions. It is internal data of the system and stored in the inherent properties of the equipment.

[0033] The instruction compilation module includes an instruction extraction submodule and an instruction optimization submodule. The instruction extraction submodule is used to extract the core key instructions generated by the user during the entire lifting simulation process; the instruction optimization submodule is used to optimize the efficiency of the core key instructions extracted by the instruction extraction submodule in the movement, luffing, rotation, and lifting actions to obtain the final optimized instructions.

[0034] The solution simulation module includes a lifting simulation submodule and a solution confirmation submodule. The lifting simulation submodule is used to reproduce the entire lifting process according to the final optimized instructions in the instruction compilation module; the solution confirmation submodule is used to confirm the lifting plan and issue the lifting instructions.

[0035] The crane multi-machine collaborative lifting operation planning system provided in this embodiment includes five main modules: model library module, follow-up strategy module, safety module, instruction compilation module and solution simulation module. The functional modules are completely decoupled and work independently, and single errors do not affect each other.

[0036] When the above system is used to plan multi-machine collaborative lifting operations, the scene setting is first performed. In the model library module, the user sets the environment scene and building, and selects the main and auxiliary crane models in the crane equipment model library according to the user's authority, sets the corresponding working conditions, and sets the load at the same time. Then enter the follow-up strategy module and select the collaborative operation follow-up strategy. After selecting the follow-up strategy, the user operates the main crane action (moving, lifting, rotating, luffing, etc.) in the system, and the system will automatically drive the auxiliary crane to perform the corresponding action (moving, lifting, rotating, luffing, etc.) in real time according to the multi-machine collaborative follow-up strategy. During the simulation of the main and auxiliary cranes, the system safety module will perform performance inquiries based on the current working conditions and lifting weight to determine whether the equipment meets the performance requirements. If the safety performance is not met, the main crane action is terminated, and the follow-up strategy module is re-entered to select other follow-up strategies, and the simulation operation in the system is continued until the safety check is met; if the safety check is met, the instruction compilation module can be used to save the main and auxiliary crane action instructions and perform the next user operation (moving, lifting, rotating, luffing, etc.). This operation is repeated until the entire operation is completed. When all the lifting actions are completed, the lifting instructions are extracted and optimized in the instruction compilation module. Finally, the solution simulation module is entered to reproduce the entire lifting process in the system and confirm the lifting plan. This completes the planning of the entire multi-machine lifting plan.

[0037] Based on the above-mentioned crane multi-machine collaborative lifting operation planning system, another embodiment of the present invention provides a crane multi-machine collaborative lifting operation planning method, which divides the entire lifting process into multiple single actions, performs safety verification on each action, and continuously adjusts the follow-up strategy through repeated iterations to finally form a complete multi-machine collaborative lifting operation plan, see Figure 1 , the method mainly comprises the following steps: (1) Set up the environment scene and buildings, select the main and auxiliary crane models, and establish the crane 3D twin model; (2) Set the working conditions, create the load, and select a following strategy from four multi-machine collaborative following strategy algorithms; (3) The main crane performs an action (moving, lifting, rotating, luffing, etc.), and the auxiliary crane automatically drives the auxiliary equipment to perform corresponding actions in real time according to the follow-up strategy selected in step (2); (4) Perform safety check on the current action of the main and auxiliary cranes. If the safety performance is not met, terminate the action of the main crane, return to step (2), and reselect the follow-up strategy until the safety check is met; (5) If the safety check is satisfied, save the action 1 instructions of the main and auxiliary cranes. Then proceed to the next step of the main crane action 2. Repeat this operation to save the action instructions that meet the safety check until the entire lifting operation is completed;

[0038] (6) After the entire lifting operation is completed, the multiple saved action instructions are extracted and integrated into a complete lifting instruction to generate a multi-machine collaborative lifting operation planning plan.

[0039] Based on the above embodiments, the final crane hoisting planning scheme is a complete hoisting instruction composed of multiple hoisting instructions after optimization, and each action is a hoisting instruction.

[0040] The third embodiment of the present invention is based on the above-mentioned crane multi-machine collaborative lifting operation planning system, adopts the above-mentioned crane multi-machine collaborative lifting operation planning method, and is carried out based on specific test cases. The specific implementation process is as follows: Step 1: Enter the environment model library through the model library module, set the scene size and create the environment scene through the interface. It should be noted that you can choose a preset environment scene, or you can customize the environment scene.

[0041] Step 2: Enter the building model library through the model library module, and create multiple buildings under the environment scene according to the set environment scene. In this embodiment, operations such as positioning, scaling in three directions of XYZ, and rotation of the building can be realized.

[0042] Step 3: Enter the crane equipment model library through the model library module, select the main equipment crane model and auxiliary equipment model through the equipment model library, and then set the corresponding working conditions of the main and auxiliary crane models through the interface.

[0043] Step 4: Create a suspended object through the building model library, and set the size, direction, and weight of the suspended object through the interface.

[0044] Step 5: Select the auxiliary crane following strategy through the following strategy module.

[0045] Step 6: Operate the main crane action, such as moving, lifting, rotating, and luffing.

[0046] Step 7: Based on the auxiliary crane following strategy, the auxiliary crane is automatically driven in real time to perform corresponding actions according to the user's operation of the main crane, including moving, lifting, rotating, and luffing.

[0047] Step 8: For the actions of the main and auxiliary cranes, perform performance queries based on the current working conditions and hoisting weight to determine whether the equipment meets the performance requirements. If not, terminate the main crane action and return to step 5; if satisfied, proceed to step 9.

[0048] Step 9: If step 8 is met, perform a safety check based on the working conditions and the weight of the load, including data such as the load rate, pad pressure, and tipping torque, to determine whether the equipment meets the performance requirements. If not, terminate the main crane action and return to step 5; if the safety check is met, save the main and auxiliary crane action 1 instructions, proceed to the next action 2 operation, and return to step 6. Repeat the iterative operation until the lifting operation is completed.

[0049] Step 10: When all hoisting operations are completed, enter the instruction compilation module to extract and optimize the hoisting instructions.

[0050] Step 11: Reproduce the entire lifting process in the system according to the optimized lifting instructions.

[0051] Step 12: Confirm the lifting plan, obtain the collaborative lifting operation plan and the main and auxiliary crane coordination instructions, and generate a multi-machine collaborative lifting operation plan.

[0052] In step 8 of this embodiment, judging whether the equipment performance meets the performance requirements refers to calling the performance table in the performance query submodule, and judging whether the hoisted object exceeds the maximum lifting weight in the performance table or a certain proportion of the maximum lifting weight set by the user, such as 80%, based on the current working conditions and the current working range. If it exceeds, it is judged that the performance requirements are not met and the hoisting cannot be performed.

[0053] In step 9 of this embodiment, judging whether the equipment meets the performance requirements means calling the risk warning submodule to calculate the load rate and pad pressure based on the current equipment status and internal inherent parameters, and an alarm is issued if these data exceed a certain range.

[0054] In step 10 of this embodiment, instruction optimization means that during the entire lifting process, the system will record all the user's operation instructions, but there are a large number of repeated or repeated lifting instructions in these instructions. These instructions are invalid instructions and have no meaning for the lifting plan. The system first deletes some invalid instructions, restores the path of the remaining instructions, and then extracts the core key positions involved in the lifting, obstacle avoidance and other processes. The system generates the core lifting instructions to achieve point-to-point based on these key positions. Finally, the lifting plan report generated by the instructions is displayed to the user for guiding the lifting.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A crane multi-machine collaborative lifting operation planning system, characterized in that: include: Model library module, used to configure the background environment, related buildings and crane equipment under the background environment; A following strategy module is configured with a multi-machine collaborative following strategy algorithm, which is used for the auxiliary equipment to respond to the main equipment action in real time to complete the operation based on the multi-machine collaborative following strategy algorithm; Safety module, used to verify the safety of main and auxiliary equipment under corresponding working conditions; Instruction compilation module, used to extract and optimize the action instructions generated in the entire lifting simulation process; The scheme simulation module is used to reproduce the entire lifting process according to the action instructions optimized by the instruction compilation module, and generate a multi-machine collaborative lifting operation planning scheme.

2. The crane multi-machine collaborative lifting operation planning system according to claim 1 is characterized in that: The model library module includes: Environmental model library, including preset port, building and wind power background environment models; Building model library, including relevant building models and suspended object models under various preset background environment models; The crane equipment model library includes three-dimensional visualized equipment dynamics models of different tonnages. The equipment dynamics model consists of motion mechanism components and a 3D model of the vehicle body. The dynamics model drives the movement of the main and auxiliary equipment.

3. The crane multi-machine collaborative lifting operation planning system according to claim 2 is characterized in that: The model library module supports user-defined environment models and building models.

4. The crane multi-machine collaborative lifting operation planning system according to claim 2 is characterized in that: The following strategy module pre-stores a plurality of multi-machine collaborative following strategy algorithms, and the multi-machine collaborative following strategy algorithms are obtained through data mining according to the user's requirements for the target state of the hoisted object and the capabilities of the auxiliary equipment.

5. The crane multi-machine collaborative lifting operation planning system according to claim 4 is characterized in that: The security module comprises: A performance query submodule, wherein the performance query submodule pre-configures a performance table, wherein the horizontal coordinate of the performance table is the hoisting load amplitude, and the vertical coordinate is the maximum lifting weight; The risk warning submodule is used to determine the safety of main and auxiliary equipment under corresponding working conditions, and to issue warnings and restrictions for situations that exceed the safety range.

6. The crane multi-machine collaborative lifting operation planning system according to claim 5 is characterized in that: The instruction compilation module includes: The instruction extraction submodule is used to extract the core key instructions generated in the entire lifting simulation process; The instruction optimization submodule is used to optimize the efficiency of the core key instructions extracted by the instruction extraction submodule in the movement, amplitude change, rotation and lifting actions to obtain the final optimized instructions.

7. The crane multi-machine collaborative lifting operation planning system according to claim 6 is characterized in that: The scheme simulation module includes: A hoisting simulation submodule is used to reproduce the entire hoisting process according to the action instructions optimized by the instruction compilation module; The scheme confirmation submodule is used to confirm the lifting scheme, generate a multi-machine collaborative lifting operation planning scheme, and issue lifting instructions.

8. A crane multi-machine collaborative lifting operation planning method based on the crane multi-machine collaborative lifting operation planning system according to any one of claims 1 to 7, characterized in that: include: Perform initialization configuration and divide the entire lifting process into multiple single actions. Perform the following operations for each single action: According to the initial configuration parameters, a following strategy is selected from the pre-configured multi-machine cooperative following strategy algorithms; When the main crane is operated, the auxiliary crane automatically drives the auxiliary equipment to perform corresponding actions in real time according to the selected follow-up strategy; Performing a safety check on the current action of the main crane and the auxiliary crane; If the safety performance is not met, the main crane action is terminated and the follow-up strategy is returned to be reselected until the safety check is met; If the safety check is satisfied, the current action 1 instruction of the main crane and the auxiliary crane is saved; then the next action 2 operation of the main crane is performed until all single actions of the entire lifting process are completed; After the entire lifting operation is completed, multiple saved action instructions are extracted and integrated into a complete lifting instruction to generate a multi-machine collaborative lifting operation planning plan.

9. The method for planning multi-crane collaborative lifting operations according to claim 8, characterized in that: The initialization configuration includes: Creating an environmental scene model for crane operation and creating a building model under the environmental scene; Select the equipment model corresponding to the main equipment crane model and the equipment model corresponding to the auxiliary equipment model for the operation, and set the corresponding working conditions; Set the size, direction and weight of the load.

10. The method for planning multi-crane collaborative lifting operations according to claim 8, characterized in that: The safety check of the current action of the main crane and the auxiliary crane comprises: The performance table in the performance query submodule is called to query the maximum lifting weight of the main crane and the auxiliary crane under the corresponding working conditions according to the current working conditions, and determine whether the load exceeds the maximum lifting weight in the performance table or a certain proportion of the maximum lifting weight set by the user; if it exceeds, it is determined that the performance requirements are not met, and the main crane action is terminated, and the follow-up strategy is returned to be reselected; If it is met, the risk warning submodule is called to calculate the hoisting rate and pad pressure based on the current equipment status and internal inherent parameters, and obtain the tipping moment. If it exceeds the set range, the performance requirements are not met, the main crane action is terminated, the return is returned to reselect the follow-up strategy, and an alarm is issued.

11. The method for planning multi-crane collaborative lifting operations according to claim 8, characterized in that: After the entire lifting operation is completed, it also includes: After deleting invalid instructions from the extracted and saved action instructions, the paths of the remaining instructions are restored, and then the core key positions involved in the lifting and obstacle avoidance processes are extracted, and the core lifting instructions for point-to-point implementation are generated based on these key positions.

12. The method for planning multi-crane collaborative lifting operations according to claim 11, characterized in that: The extracted and saved multiple action instructions are integrated into a complete lifting instruction to generate a multi-machine collaborative lifting operation planning scheme, including: According to the finally optimized action instructions, a complete lifting instruction is integrated; Based on the integrated complete lifting instructions, the entire lifting process is reproduced; Based on the reproduction results, the multi-machine collaborative lifting operation planning scheme is confirmed and generated.

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