New Jersey guardrail lifting appliance and lifting process

Abstract

The invention relates to the technical field of guardrail lifting appliances, in particular to a XinJinxi guardrail lifting appliance and an intelligent lifting process. A lifting appliance structure is matched with an embedded part embedded in a guardrail, and lifting hooks are arranged at the two end points and the middle point of a connecting rope; two opposite forces are respectively generated on the two sides of the guardrail between the lifting appliance structures and the cranes on the two sides of the guardrail, so that the clamping and locking of the guardrail are realized; the optimal driving route from the placing position of the guardrail as a starting point to the mounting position of the guardrail as a midpoint of the crane is realized through a route planning module, so that the influence of environmental factors on the stability of the guardrail is reduced; then, a leveling module implementation module of a control system of the crane calculates the inclination angle and the ground contact area after the guardrail is lifted according to the three-dimensional model so as to estimate the balance state of the guardrail, an adjustment scheme is generated for the unbalanced guardrail, and the unbalanced guardrail is leveled; therefore, the ground contact area of the guardrail is not damaged when the guardrail is put down.

Description

Technical Field

[0001] The invention belongs to the technical field of guardrail hangers, and in particular relates to a New Jersey guardrail hanger and a hoisting process. Background Art

[0002] The New Jersey guardrail is a concrete wall panel that is commonly used in the central divider of highways. It mainly serves to separate traffic and prevent collisions.

[0003] At the outdoor construction site of the New Jersey guardrail, the lifting operation is a crucial link. Due to the large weight, shape and size of the guardrail, the precision must be strictly controlled during the lifting process to ensure that the guardrail can be lifted and placed in the predetermined position smoothly and accurately. If the balance of the hoisting device is not properly controlled during lifting, or there is an angle deviation during the lifting process, it will directly lead to a deviation in the position of the guardrail falling to the ground, which may cause damage to the guardrail falling to the ground, such as indentation, wear and even cracking. In addition, the deviation in the lifting angle of a single or multiple guardrails may also affect the overall stability of the subsequent guardrail. More importantly, in the subsequent use process, due to the damage to the guardrail falling to the ground and the deviation in the lifting angle, in the event of a traffic accident, the guardrail's anti-collision blocking effect is affected due to its own instability, and then in the event of a traffic accident, it cannot effectively prevent the vehicle from rushing out of the road, increasing the occurrence of rollover accidents in traffic accidents.

[0004] At present, outdoor construction sites rely on the experience and skills of operators to guide the operation of cranes. In addition, the variability of the outdoor construction environment, especially in windy areas, will increase the instability of the guardrail during the lifting process, which can easily cause the angle of the guardrail to tilt when the crane lowers the guardrail.

[0005] Therefore, a hoisting device and a hoisting process are needed to solve the problems existing in the prior art and achieve precise control of the guardrail hoisting process. Summary of the invention

[0006] In order to solve the above problems existing in the prior art, the present invention provides a New Jersey guardrail hoist and an intelligent hoisting process.

[0007] The object of the present invention can be achieved by the following technical solution: the sling includes a sling structure, an embedded part arranged in a guardrail and matched with the sling structure, a crane connected to the embedded part, and a control system for controlling the crane;

[0008] The sling structure comprises a balance block, a lifting ring and a main body, wherein the main body and the balance block are respectively arranged on both sides of the lifting ring; the main body is "C" shaped, and a limit position assembly is arranged at the lower end of the main body;

[0009] The embedded part includes a balancing groove and a limiting groove, wherein the balancing groove is located above the limiting groove, and the limiting groove and the balancing groove are connected through a connecting groove, the balancing groove is used to accommodate a balancing block, the limiting assembly extends into the limiting groove, and the limiting groove limits the limiting assembly, and the embedded parts are respectively arranged at both ends of the New Jersey guardrail;

[0010] The crane includes a connecting rope, which is used to connect the lifting rings of the sling structure placed at both ends of the guardrail. Three hooks are respectively arranged on the connecting rope at the two end points and the midpoint, and the hooks at both ends are respectively connected to the lifting rings of the sling structure installed at both ends of the guardrail.

[0011] Preferably, the limit assembly includes a sliding assembly, two limit blocks slidably arranged on the sliding assembly, and a limit controller for controlling the movement of the two limit blocks on the sliding assembly. The limit controller is electrically connected to and controlled by the control system of the crane. The limit controller controls the two limit blocks to be relatively close or relatively far away from each other according to the instructions of the control system of the crane.

[0012] Preferably, the control system of the crane includes a scanning module, a drawing module, a route planning module and a balancing module;

[0013] The scanning module performs three-dimensional scanning on the hoisting environment and the guardrail during hoisting and generates three-dimensional point cloud data;

[0014] The drawing module extracts the three-dimensional point cloud data uploaded by the scanning module to draw a three-dimensional model of the hoisting environment and adds the guardrail model in the hoisting to the three-dimensional model of the environment;

[0015] The route planning module generates the best running route for the guardrail starting point and end point according to the coordinate system of each point in the three-dimensional model;

[0016] The balancing module calculates the balance state of the guardrail according to the environment model and the model of the hoisted guardrail and generates an adjustment plan for the guardrail that needs to be balanced.

[0017] Preferably, the calculation conditions for the route planning module to generate the best route include calculating the road surface flatness, the number of obstacles and the height of each obstacle in multiple routes.

[0018] Preferably, the balancing module determines the balance state of the hoisted guardrail by calculating the inclination angle and the ground contact area of ​​the guardrail relative to the horizontal plane in the three-dimensional point cloud data. The balancing module is preset with an inclination angle threshold and a ground contact area threshold. The balancing module compares the inclination angle with the inclination angle threshold and generates an adjustment plan for the guardrail whose inclination angle is greater than the inclination angle threshold and whose ground contact area is less than the ground contact area threshold.

[0019] Preferably, the control system of the crane also includes a detection module, which includes a tension detector, and the tension detector is used to detect the tension at both ends of the midpoint of the connecting rope. The two tension detectors are respectively electrically connected to the control system of the crane and upload data.

[0020] An intelligent lifting process comprises the following steps:

[0021] S1: Use a 3D laser scanner to perform 3D scanning on the hoisting environment to obtain 3D point cloud data and perform denoising and filtering on the point cloud data;

[0022] S2: The control system of the crane draws a 3D model of the hoisting environment based on the 3D point cloud data, simulates the hoisting route based on the 3D model, and generates the optimal hoisting route;

[0023] S3: Install the sling in the embedded parts on both sides of the guardrail, use the hooks at both ends of the connecting rope to lock the lifting rings of the sling structure respectively, lock the hook of the crane and the hook at the midpoint of the connecting rope, and lift the crane;

[0024] S4: The 3D laser scanner adds the 3D point cloud data of the hoisted guardrail to the hoisting environment to generate a 3D model of the hoisted guardrail and calculates the inclination angle of the guardrail according to the 3D model;

[0025] S5: The control system of the crane estimates the balance state of the guardrail according to the inclination angle of the guardrail, and determines whether the balance state of the guardrail needs to be adjusted;

[0026] S6: The control system of the crane adjusts the balance state of the guardrail;

[0027] S7: The crane performs lifting according to the best lifting route.

[0028] Preferably, the three-dimensional laser scanner includes scanning of the entire lifting process, and the control system of the crane determines the balance state of the guardrail in real time and makes adjustments.

[0029] The beneficial effects of the present invention are:

[0030] The present invention provides a New Jersey guardrail sling and an intelligent hoisting process. The sling part is connected to the hoisting rings of the sling structure arranged on both sides of the guardrail through the cooperation of the sling structure and the embedded parts buried in the guardrail, and the hooks are arranged on the two end points and the midpoint of the connecting rope. The midpoint hook of the connecting rope is lifted by the hook of the crane, so that the sling structure and the connecting rope on both sides of the guardrail respectively generate forces in two directions relative to each other on both sides of the guardrail, thereby realizing the clamping and locking of the guardrail; and the route planning module in the crane control system is used to realize the control of the crane on the guardrail. The placement position of the guardrail is used as the starting point to the installation position of the guardrail as the midpoint of the optimal driving route to reduce the impact of environmental factors between the starting point and the midpoint on the stability of the guardrail; then the leveling module of the crane control system calculates the inclination angle and the ground contact area of ​​the guardrail after the guardrail is lifted according to the three-dimensional model to estimate the balance state of the guardrail, and generates an adjustment plan for the unbalanced guardrail to level the unbalanced guardrail to ensure that the ground contact area of ​​the guardrail is greater than the ground contact area threshold, and ensure that the ground contact area of ​​the guardrail will not be damaged when it is lowered. It is ensured that the subsequent role of the guardrail can be effectively played by reducing the damage to the guardrail itself and the hoisting accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0032] Figure 1 It is a cross-sectional schematic diagram of the embedded part of the present invention;

[0033] Figure 2 It is a structural schematic diagram of the sling structure of the present invention;

[0034] Figure 3 is a system block diagram of a control system of a crane of the present invention;

[0035] Main component symbols

[0036] In the figure: 1. Balancing groove; 2. Limiting groove; 3. Connecting groove; 4. Balancing block; 5. Lifting ring; 6. Limiting block. DETAILED DESCRIPTION

[0037] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0038] In order to improve the stability of the New Jersey guardrail during the lifting process, embedded parts are used in conjunction with a C-type sling. The lifting of the New Jersey guardrail usually occurs in the production stage and the installation stage. The installation stage requires lifting the guardrail from the storage location to the transport vehicle or lifting the guardrail from the transport vehicle to the installation location for subsequent installation.

[0039] See also Figure 1-Figure 3 , this embodiment provides a New Jersey guardrail hoist, which is used for hoisting the New Jersey guardrail, and the hoist includes a hoist structure, an embedded part arranged in the guardrail and matched with the hoist structure, a hoist connected to the embedded part, and a control system for controlling the hoist;

[0040] See also Figure 2 The sling structure includes a balance block 4, a lifting ring 5 and a main body. The main body and the balance block 4 are respectively arranged on both sides of the lifting ring 5. The main body is "C" shaped. A limit assembly is arranged at the lower end of the main body. The embedded parts include a balance groove 1 and a limit groove 2. The balance groove 1 is located above the limit groove 2. The embedded parts are made of concrete steel bars and cast together with the concrete guardrail. The embedded parts are anchored in the concrete through anchors. The limit groove 2 and the balance groove 1 are connected through the connecting groove 3. The widths of the limit groove 2 and the balance groove 1 are larger than the width of the connecting groove 3.

[0041] For the convenience of installation, the limit assembly includes a sliding assembly, two limit blocks 6 slidably arranged on the sliding assembly, and a limit controller for controlling the movement of the two limit blocks 6 on the sliding assembly. The limit controller is electrically connected to and controlled by the control system of the crane. The limit controller controls the two limit blocks 6 to be relatively close or relatively far away from each other under the instructions of the control system of the crane. During hoisting, the operator needs to move the two limit blocks 6 of the limit assembly of the sling structure from top to bottom through the balancing groove 1, the connecting groove 3 and then to the limit groove 2 of the embedded part. At this time, the two limit blocks 6 are in a close state, the two limit blocks 6 enter the limit groove 2 through the connecting groove 3, and the balancing block 4 of the sling structure is clamped on At the upper end of the balancing groove 1, the limit controller, under the control of the control system of the crane, makes the two limit blocks 6 move away from each other in the same straight line on the sliding assembly until the two limit blocks 6 respectively abut against the two side walls of the limit groove 2, that is, the two limit blocks 6 are respectively located at the relative positions on both sides of the limit groove 2, and since the width of the connecting groove 3 is smaller than the width of the limit groove 2, there is a limit between the limit groove 2 and the connecting groove 3, that is, the two limit blocks 6 are respectively limited at the positions on both sides of the limit groove 2 to achieve snap-in, and to prevent the two limit blocks 6 from moving in the limit groove 2 and affecting the connection stability of the limit blocks 6, thereby affecting the stability of the lifting of the sling structure.

[0042] The crane includes a connecting rope, which is used to connect the lifting rings 5 ​​of the sling structure placed at both ends of the guardrail. Three hooks are respectively arranged on the connecting rope at the two end points and the midpoint. The hooks at both ends are respectively connected to the lifting rings 5 ​​of the sling structure clamped at both ends of the guardrail, and then the hook of the crane is used to lock the hook at the midpoint of the connecting rope, and the crane is lifted. At this time, due to the tension of the connecting rope, a relative force is generated between the sling structures of the embedded parts clamped on both sides of the guardrail, so the two limit blocks 6 can generate a downward force in the limit groove 2, and the two limit blocks 6 can achieve limit in the limit groove 2. The balance block 4 of the sling structure in the embedded parts on both sides of the guardrail also clamps the guardrail due to the relative force. In order to ensure the coordination between the sling structure and the embedded parts, when designing the size of the embedded parts, it is necessary to strictly control the size coordination between the embedded parts and the sling structure.

[0043] Furthermore, in hoisting operations, the operation route planning of the crane is crucial. First, it can ensure that the crane avoids obstacles such as buildings, equipment or other hoisted objects during operation, thereby avoiding potential collisions and accidents. Secondly, by optimizing the operation route, the hoisting efficiency can be improved and unnecessary movement and waiting time can be reduced. Finally, accurate operation route planning can also help the crane locate the starting and end points of the guardrail more accurately, ensuring the accuracy and safety of the hoisting operation.

[0044] See also Figure 3 The control system of the crane includes a scanning module, a drawing module, a route planning module and a balancing module. The scanning module uses a 3D laser scanner to perform 3D scanning on the hoisting environment and the guardrail in the hoisting and generates 3D point cloud data. The drawing module draws a 3D model of the hoisting environment according to the 3D point cloud data uploaded by the scanning module and adds the guardrail model in the hoisting to the 3D model of the environment. The route planning module extracts the coordinate system of each point in the 3D model and generates the best running route for the crane between the starting point and the end point of the guardrail.

[0045] Since there are many routes between the starting point and the end point of the guardrail, and there are many factors that affect the crane control system's choice of route, including road flatness, the number of obstacles, and the height and area of ​​obstacles, the route planning module generates an optimal lifting route by considering multiple factors.

[0046] The route planning module can be implemented using the Dijkstra algorithm. Key information is extracted and integrated from the three-dimensional model of the environment. The key information includes road surface flatness, number of obstacles, height and floor space, etc. The collected data is preprocessed and converted into a format suitable for algorithm processing. The lifting environment is abstracted into a graph. The nodes represent the starting and ending positions of the guardrails, and the edges represent the movement from the starting position to the ending position and the corresponding cost. The cost includes time, distance, turning angle and number of turns. It is a composite indicator that combines multiple factors (distance, time, road surface flatness, obstacles, turning angle and number of turns, and the number and height of obstacles) to evaluate the advantages and disadvantages of different lifting routes. The environmental factors are then calculated based on the factors of road surface flatness, number of obstacles and height. For each edge, a weight is assigned to each edge according to the weight calculation formula based on the cost and environmental factors, and each weight is iterated. The Dijkstra algorithm is applied to the constructed graph model to calculate the shortest path from the starting point to all other nodes to obtain the best lifting route. The weight calculation formula is:

[0047] Weight = α×time + β×distance + γ×turning angle + δ×number of turns + ∈×road surface flatness + ζ×impact of obstacles; among them, α, β, γ, δ, ∈, ζ are weight coefficients, and the weight coefficients are dynamically adjusted according to real-time road conditions, crane status, etc. The weight is a non-negative number, and a smaller weight corresponds to a better lifting route.

[0048] The above method for planning the best route should be implemented using a suitable programming language (such as Python, C++) and framework (such as PCL), and the system should be fully tested to ensure that it can work stably under different conditions and generate accurate lifting routes.

[0049] Of course, due to the complexity of the data, corresponding data registers are needed to store the calculated data and delete useless data to reduce data redundancy.

[0050] The balancing module calculates the balance state of the guardrail according to the environmental model and the model of the hoisted guardrail and generates an adjustment plan for the guardrail that needs to be balanced. The balancing module judges the balance state of the hoisted guardrail, including calculating the inclination angle and the ground contact area of ​​the guardrail relative to the horizontal plane in the three-dimensional point cloud data. The inclination angle is calculated by extracting the coordinates of the key nodes in the three-dimensional coordinate system and generating the key edges from the coordinates, and then generating the inclination angle through the edge-angle relationship of the trigonometric function. The inclination angle here is the angle between the position of the guardrail and the horizontal line. The key edge can be the horizontal center axis of the bottom surface of the guardrail, so the inclination angle is the angle between the center axis of the bottom surface of the guardrail and the horizontal line.

[0051] The same is true for the calculation of the ground contact area of ​​the bottom surface of the guardrail. The bottom area of ​​the guardrail is input, and then the inclination angle between the aforementioned central axis and the horizontal line is used. The inclination angle is also the angle between the plane where the bottom surface of the guardrail is located and the horizontal plane. The projection area of ​​the ground area in the vertical direction is calculated through trigonometric functions using the bottom area and the inclination angle of the guardrail. Since the bottom surface of the guardrail is a flat rectangle and will not be significantly deformed due to the bottom surface of the guardrail touching the ground, the projection area of ​​the bottom surface of the guardrail in the vertical direction is the ground contact area without changing the inclination angle or shaking. Because the New Jersey guardrail itself is extremely heavy, if the ground contact area is lower than a certain threshold, the weight of the guardrail itself will affect the side of the guardrail that touches the ground, causing the guardrail to deform or even break. Therefore, in addition to measuring the inclination angle of the guardrail after lifting, it is also necessary to calculate the ground contact area of ​​its bottom surface to ensure that the lifting state of the guardrail is normal, that is, balanced. The tilt angle threshold and the ground contact area threshold are preset in the balancing module. The balancing module compares and judges the tilt angle with the tilt angle threshold, and generates an adjustment plan for the guardrail in the hoisting when the tilt angle is greater than the tilt angle threshold and the ground contact area is less than the ground contact area threshold. When the tilt angle of the guardrail is greater than the tilt angle threshold and the ground contact area is less than the ground contact area threshold, it proves that the guardrail is in an unbalanced state and needs to be adjusted. The adjustment plan includes the adjustment of the pulley group on the crane to achieve the balance of torque at both ends of the guardrail or other adjustment directions. According to the specific situation, the balance and adjustment of the guardrail are improved accordingly, and then the hoisting of the guardrail is balanced. Of course, the tilt angle threshold and the ground contact area threshold of the guardrail are obtained through the relevant hoisting construction standards or tests.

[0052] As mentioned above, three hooks are arranged on the connecting rope with equal intervals between them. The three hooks are respectively located at the two end points and the midpoint of the connecting rope. The hook on the crane lifts the hook at the midpoint, and the hooks at both ends of the connecting rope are respectively connected to the lifting ring 5 of the sling structure in the embedded parts on both sides of the guardrail. Therefore, the hook of the crane lifts the hook at the midpoint, and the hook of the crane and the hooks at both ends of the connecting rope form an isosceles triangle structure. Due to the stability of the triangle, at this time, since the limiting component of the sling structure is clamped in the limiting groove 2 of the embedded part, the balance block 4 of the sling structure is clamped in the balance groove 1 of the embedded part, and the embedded parts are respectively buried on both sides of the guardrail, the hook of the crane forms a relative force with the two sides of the guardrail, and the relative forces in the two directions act on the same horizontal line of the upper surface of the guardrail, thereby locking the guardrail and ensuring the stability of the lifting.

[0053] In order to facilitate the control system balancing module of the crane to grasp the tension of the rope segments on both sides of the midpoint of the connecting rope so as to better grasp the balance state of the guardrail and the subsequent balancing module to generate an adjustment plan, the control system of the crane also includes a detection module, the detection module includes a tension detector for detecting tension, and a tension detector is arranged at the middle position between the midpoint of the connecting rope and the end points at both ends. The two tension detectors are electrically connected to the control system of the crane and upload data respectively, and the balancing module generates an adjustment plan according to the tension data uploaded by the two tension detectors. Due to frequent use, the same force of the same magnitude and direction acts on two different connecting ropes, and the stretching length of the connecting rope will change. Therefore, even if the weight at both ends of the guardrail has been balanced, the weight balancing is reflected in the sling structure being symmetrically arranged on both sides of the guardrail and the guardrail is theoretically symmetrical on both sides, so it is concluded that the guardrail is symmetrical between the two connecting ropes. The forces on the guardrail are the same in magnitude, but the extension lengths of the two connecting ropes will change slightly, resulting in a difference in the lengths of the two connecting ropes that were originally equal. From the relationship between force and torque, it can be concluded that when the forces are the same but the torques are different, the balance between the two forces will be broken. As mentioned earlier, on the guardrail, the two connecting ropes generate two opposite forces on the guardrail. Due to the change in torque, the two theoretically equal relative forces are different. Therefore, the tension detectors set on the two connecting ropes are used to detect the two tensions, and then calculate the relative forces generated on the guardrail. This facilitates the balancing module to judge the balance state of the guardrail and the subsequent adjustment plan generated by the balancing module, including the crane control system's adjustment of the pulley group on the crane, that is, the two tensions are balanced by adjusting the pulley group, thereby achieving leveling of the guardrail.

[0054] Furthermore, since wind will affect the balance of the guardrail during hoisting, in order for the balancing module to more comprehensively evaluate the balance state of the guardrail and subsequently make real-time adjustments to the balancing adjustment plan of the guardrail, the detection module also includes a wind detection sensor. The wind detection sensor is electrically connected to the control system of the crane and uploads data. The wind data uploaded by the wind detection sensor includes wind direction and wind speed. By adding the wind data in the hoisting environment to the judgment of the leveling module and the considerations in generating the adjustment plan for the unbalanced guardrail, real-time judgment and adjustment can be achieved.

[0055] An intelligent lifting process of a New Jersey spreader includes the following steps:

[0056] S1: Use a 3D laser scanner to perform 3D scanning on the hoisting environment to obtain 3D point cloud data and perform denoising and filtering on the point cloud data;

[0057] S2: The control system of the crane draws a 3D model of the hoisting environment based on the 3D point cloud data, simulates the hoisting route based on the 3D model, and generates the optimal hoisting route;

[0058] S3: Install the sling into the embedded parts on both sides of the guardrail, use the hooks at both ends of the connecting rope to lock the lifting ring 5 of the sling structure respectively, lock the hook of the crane and the hook at the midpoint of the connecting rope, and lift the crane;

[0059] S4: The 3D laser scanner adds the 3D point cloud data of the hoisted guardrail to the hoisting environment to generate a 3D model of the hoisted guardrail and calculates the inclination angle of the guardrail according to the 3D model;

[0060] S5: The control system of the crane estimates the balance state of the guardrail according to the inclination angle of the guardrail, and determines whether the balance state of the guardrail needs to be adjusted;

[0061] S6: The control system of the crane adjusts the balance state of the guardrail;

[0062] S7: The crane completes the lifting according to the optimal lifting route.

[0063] During the hoisting process, since it is necessary to ensure the balance of the guardrail, a 3D laser scanner is used to scan the entire hoisting process. The crane control system determines the balance of the guardrail in real time and makes adjustments.

[0064] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A New Jersey guardrail sling, characterized in that: It includes a sling structure, an embedded part arranged in a guardrail and matched with the sling structure, a crane connected to the embedded part, and a control system for controlling the crane; The sling structure comprises a balance block, a lifting ring and a main body, wherein the main body and the balance block are respectively arranged on both sides of the lifting ring; the main body is "C" shaped, and a limit position assembly is arranged at the lower end of the main body; The embedded part includes a balancing groove and a limiting groove, wherein the balancing groove is located above the limiting groove, and the limiting groove and the balancing groove are connected through a connecting groove, the balancing groove is used to accommodate a balancing block, the limiting assembly extends into the limiting groove, and the limiting groove limits the limiting assembly, and the embedded parts are respectively arranged at both ends of the New Jersey guardrail; The crane includes a connecting rope, which is used to connect the lifting rings of the sling structure placed at both ends of the guardrail. Three hooks are respectively arranged on the connecting rope at the two end points and the midpoint, and the hooks at both ends are respectively connected to the lifting rings of the sling structure installed at both ends of the guardrail.

2. A New Jersey guardrail sling according to claim 1, characterized in that: The limit assembly includes a sliding assembly, two limit blocks slidably arranged on the sliding assembly, and a limit controller for controlling the movement of the two limit blocks on the sliding assembly. The limit controller is electrically connected to and controlled by the control system of the crane. The limit controller controls the two limit blocks to be relatively close or relatively far away from each other according to the instructions of the control system of the crane.

3. A New Jersey guardrail sling according to claim 2, characterized in that: The control system of the crane includes a scanning module, a drawing module, a route planning module and a balancing module; The scanning module performs three-dimensional scanning on the hoisting environment and the guardrail during hoisting and generates three-dimensional point cloud data; The drawing module extracts the three-dimensional point cloud data uploaded by the scanning module to draw a three-dimensional model of the hoisting environment and adds the guardrail model in the hoisting to the three-dimensional model of the environment; The route planning module generates the best running route for the guardrail starting point and end point according to the coordinate system of each point in the three-dimensional model; The balancing module calculates the balance state of the guardrail according to the environment model and the model of the hoisted guardrail and generates an adjustment plan for the guardrail that needs to be balanced.

4. A New Jersey guardrail sling according to claim 3, characterized in that: The calculation conditions for the route planning module to generate the best route include calculating the road surface flatness, the number of obstacles and the height of each obstacle in the multiple routes.

5. A New Jersey guardrail sling according to claim 4, characterized in that: The balancing module determines the balance state of the hoisted guardrail by calculating the inclination angle and the ground contact area of ​​the guardrail relative to the horizontal plane in the three-dimensional point cloud data. The balancing module is preset with an inclination angle threshold and a ground contact area threshold. The balancing module compares the inclination angle with the inclination angle threshold and generates an adjustment plan for the guardrail whose inclination angle is greater than the inclination angle threshold and whose ground contact area is less than the ground contact area threshold.

6. A New Jersey guardrail hanger according to claim 3, characterized in that: The control system of the crane also includes a detection module, which includes a tension detector. The tension detector is used to detect the tension at both ends of the midpoint of the connecting rope. The two tension detectors are electrically connected to the control system of the crane and upload data.

7. A New Jersey guardrail hanger according to claim 6, characterized in that: The detection module also includes a wind detection sensor, which is electrically connected to the control system of the crane and uploads wind data of the hoisting environment, wherein the wind data includes wind direction and wind speed.

8. An intelligent hoisting process for a New Jersey spreader, using a New Jersey guardrail spreader as claimed in any one of claims 1 to 7, characterized in that: The following steps are involved: S1: Use a 3D laser scanner to perform 3D scanning on the hoisting environment to obtain 3D point cloud data and perform denoising and filtering on the point cloud data; S2: The control system of the crane draws a 3D model of the hoisting environment based on the 3D point cloud data, simulates the hoisting route based on the 3D model, and generates the optimal hoisting route; S3: Install the sling in the embedded parts on both sides of the guardrail, use the hooks at both ends of the connecting rope to lock the lifting rings of the sling structure respectively, lock the hook of the crane and the hook at the midpoint of the connecting rope, and lift the crane; S4: The 3D laser scanner adds the 3D point cloud data of the hoisted guardrail to the hoisting environment to generate a 3D model of the hoisted guardrail and calculates the inclination angle of the guardrail according to the 3D model; S5: The control system of the crane estimates the balance state of the guardrail according to the inclination angle of the guardrail, and determines whether the balance state of the guardrail needs to be adjusted; S6: The control system of the crane adjusts the balance state of the guardrail; S7: The crane performs lifting according to the best lifting route.

9. The intelligent lifting process of a New Jersey spreader according to claim 8, characterized in that: The 3D laser scanner scans the entire lifting process, and the crane's control system determines the balance state of the guardrail in real time and makes adjustments.

Images