Dynamic stable auxiliary obstacle avoidance structure of tower crane and use method

Abstract

The invention provides a tower crane dynamic stable auxiliary obstacle avoidance structure and a using method, and belongs to the technical field of building construction.The tower crane dynamic stable auxiliary obstacle avoidance structure comprises a tower crane rotary table, the tower crane rotary table is arranged at the bottom of a tower crane and comprises a shell and a driving motor, and a tower crane lifting table screw connector is arranged at the bottom of the tower crane rotary table; the tower crane lifting table comprises two supporting plates, a plurality of X-shaped movable frames, a plurality of cross rods and a rotating rod, each X-shaped movable frame comprises an outer twisting rod and an inner twisting rod, the tower crane base is in threaded connection with the bottom of the tower crane lifting table, the dynamic obstacle avoidance control system is in wireless communication connection with the control box, and the dynamic obstacle avoidance control system is used for monitoring obstacles in the using environment of the tower crane. And the obstacle avoidance path is planned, the obstacle avoidance structure is controlled to perform obstacle avoidance work, and the problems that traditional tower crane operation mainly depends on experience and skills of a driver to avoid shaking, a simple anti-swing device is arranged, and the effect is limited in the obstacle avoidance action are solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of construction, and specifically relates to a dynamic stability auxiliary obstacle avoidance structure for tower cranes and a usage method thereof. Background Art

[0002] Tower cranes need to avoid various obstacles at the construction site, such as buildings, scaffolding, other construction machinery, etc. During the obstacle avoidance process, the building materials on the hook may shake due to sudden acceleration, deceleration or turning, and this kind of shaking may cause material damage or falling off.

[0003] Traditional tower crane operations mainly rely on the experience and skills of the driver to avoid shaking, but this cannot completely eliminate the risk. Some tower cranes are equipped with simple anti-sway devices, but the effects of these devices are limited during the obstacle avoidance operation. Therefore, it is necessary to design a tower crane dynamic stability auxiliary obstacle avoidance structure and a usage method that can avoid obstacles more stably, reduce the shaking of building materials, and monitor the movement state of the tower crane in real time, and adjust the position and speed of the hook to adapt to the obstacle avoidance operation. Summary of the Invention

[0004] The embodiments of the present invention provide a dynamic stability auxiliary obstacle avoidance structure for tower cranes and a usage method thereof, which solve the problems that traditional tower crane operations mainly rely on the experience and skills of the driver to avoid shaking, and the simple anti-sway devices have limited effects during the obstacle avoidance operation.

[0005] In view of the above problems, the technical solution proposed by the present invention is as follows:

[0006] The present invention provides a dynamic stability auxiliary obstacle avoidance structure for tower cranes, including a tower crane turntable, the tower crane turntable is arranged at the bottom of the tower crane, the tower crane turntable includes a housing and a driving motor, a worm is arranged inside the housing, the worm is arranged at the output end of the driving motor, a worm gear is meshed on one side of the worm, and a connecting column is installed at the upper end of the worm gear;

[0007] A tower crane lifting platform, the tower crane lifting platform is screwed to the bottom of the tower crane turntable, the tower crane lifting platform includes two support plates, a plurality of X-shaped movable frames, a plurality of cross bars and a rotating rod, the same number of X-shaped movable frames are arranged between the two support plates, the X-shaped movable frame includes an outer hinge rod and an inner hinge rod, the cross bar is arranged between the X-shaped movable frames, and the rotating rod penetrates through the cross bar;

[0008] A tower crane base, the tower crane base is screwed to the bottom of the tower crane lifting platform, the tower crane base includes a support chassis, moving wheels, foot pads and a control box, moving wheels and foot pads are arranged at the four corners of the support chassis, and the control box is arranged outside the support chassis;

[0009] Dynamic obstacle avoidance control system, the dynamic obstacle avoidance control system is wirelessly communicatively connected to the control box, and the dynamic obstacle avoidance control system is used to monitor obstacles in the working environment of the tower crane and plan an obstacle avoidance path to control the obstacle avoidance structure to perform obstacle avoidance work.

[0010] As a preferred technical solution of the present invention, the driving motor is one of a hydraulic motor or a pneumatic motor. The output end of the driving motor is in transmission connection with the worm. The other end of the worm is screwed with a runner, and the runner is rotatably connected to the housing. A ball bearing is arranged between the connecting column and the worm gear.

[0011] As a preferred technical solution of the present invention, the outer strut and the inner strut are rotatably connected by bolts. At least four X-shaped movable frames are arranged on the same side of the two support plates. The outer struts at the bottommost and topmost ends are respectively bolted to the support plates. A cross bar is bolted between the oppositely arranged inner struts. Fixed rods penetrate through the interiors of the cross bars at the bottommost and topmost ends, and the cross bars are slidably connected to the fixed rods. Fixed seats are screwed between the two ends of the fixed rods and the support plates. The rotating rod is in threaded cooperation with the cross bar, and a transmission bearing is screwed to the outer end of the rotating rod, and the transmission bearing is externally connected to a driving motor.

[0012] As a preferred technical solution of the present invention, the support chassis is screwed to the support plate. Separate driving motors are provided for the moving wheels at the four corners of the support chassis. A lifting push rod is screwed to the upper end of the foot pad. A connecting frame is arranged between the lifting push rod and the support chassis, and the connecting frame is welded to the four corners of the support chassis. A plurality of reinforcing rods are bolted to the inner side of the support chassis.

[0013] As a preferred technical solution of the present invention, the dynamic obstacle avoidance control system includes a sensor array, an obstacle avoidance processing module, a decision output module, and a control module;

[0014] The sensor array is used to monitor the motion state of the tower crane and obstacles in the surrounding environment;

[0015] The obstacle avoidance processing module is used to process data from the sensor array and perform obstacle avoidance scheme processing. The obstacle avoidance processing module includes a data fusion unit, an obstacle recognition unit, a path planning unit, and a path optimization unit;

[0016] The data fusion unit uses the Kalman filtering method to fuse data from different sensors;

[0017] The obstacle recognition unit uses Euclidean clustering to recognize obstacles from the collected relevant data;

[0018] The path planning unit uses the artificial potential field method to plan an obstacle avoidance path according to the situation of obstacles;

[0019] The path optimization unit uses an improved honey badger optimization algorithm to optimize the planned path;

[0020] The decision-making output module converts the optimized obstacle avoidance path plan into control instructions for the tower crane, including direction, speed, and acceleration;

[0021] The control module controls the obstacle avoidance structure to perform obstacle avoidance work according to the command signal.

[0022] As a preferred technical solution of the present invention, the detailed steps for the obstacle recognition unit to recognize obstacles are as follows:

[0023] Step 1, based on the environmental data of the data fusion unit, convert the multi-modal data into a point cloud format, and remove outliers and irrelevant points;

[0024] Step 2, set the parameters of the clustering algorithm, select the initial clustering centers based on the density distribution of the point cloud, calculate the Euclidean distance between each point in the point cloud and each clustering center, and assign each data point to the cluster where the nearest clustering center is located;

[0025] Step 3, during the clustering process, detect the distance between clusters. If the boundaries of two clusters are very close or there is an overlapping part, process the overlapping part, analyze the characteristics of each cluster, train a classifier using a machine learning algorithm, input the cluster characteristics, output the obstacle type, input the characteristics of the cluster into the trained classifier, and distinguish different types of obstacles according to the classification results to determine whether there are obstacles in real-time monitoring;

[0026] Step 4, track the position and motion state of the obstacle in consecutive data frames, and update the information of the obstacle according to the real-time data to maintain the accuracy of recognition.

[0027] As a preferred technical solution of the present invention, the detailed steps for the path planning unit to plan a path are as follows:

[0028] Step a, use the artificial potential field method to establish a potential field model for the working environment of the tower crane, and convert the obstacles and target points in the environment into a repulsive field and an attractive field in the potential field;

[0029] Step b, set the initial position of the tower crane, and update the position of the tower crane according to the total force at the current position of the tower crane in each time period. If there are no obstacles at the new position of the tower crane, stop the adjustment. Otherwise, it is necessary to recalculate the force and adjust the obstacle avoidance plan;

[0030] The detailed steps for the path optimization unit to optimize the path are as follows:

[0031] Step A: Initialize the honey badger population based on the potential field model, randomly assign an initial position to each honey badger individual, and each individual in the honey badger population represents each obstacle avoidance path.

[0032] Step B: In the potential field, the honey badger individuals move according to the gravitational and repulsive forces in the potential field, simulate path search, explore different obstacle avoidance paths, and continuously update the positions of the honey badger individuals. During the process of simulating path search, find effective obstacle avoidance paths.

[0033] Step C: Evaluate the paths explored by each honey badger individual, and select a suitable path plan from the paths.

[0034] Step D: Use the local search algorithm to perform local search on each honey badger individual, perform optimized path search within a small range, update the path according to the search results of the honey badger individuals. When the algorithm converges, output the current optimized path as the final optimization result.

[0035] Step E: Obtain the final optimized scheme for the obstacle avoidance path, and control the obstacle avoidance structure to perform obstacle avoidance work. On the other hand, a method for using a tower crane dynamic stability assisted obstacle avoidance structure includes the following steps:

[0036] S1: Install the obstacle avoidance structure at the bottom of the tower crane, install the sensor array on the tower crane, and install hydraulic dampers at the joints of the hook or the jib.

[0037] S2: The sensor array transmits the monitoring data to the dynamic obstacle avoidance control system in real time. The obstacle recognition unit recognizes obstacles from the monitoring data, gives an obstacle avoidance plan according to the data of the obstacles, and converts the obstacle avoidance plan into a control instruction.

[0038] S3: The control module issues corresponding instructions to the obstacle avoidance structure, so that the tower crane moves smoothly in the safe direction.

[0039] S4: After the obstacle avoidance is completed, the dynamic obstacle avoidance control system continues to monitor until the tower crane completes its work.

[0040] Compared with the prior art, the beneficial effects of the present invention are:

[0041] (1) The present invention combines the turntable, the lifting platform and the moving base, enabling the tower crane to adjust rotation, lifting and movement, improving the operation flexibility and working efficiency of the tower crane, being able to adjust for obstacles that appear at the construction site, improving the operation convenience, and avoiding the delay of the construction progress caused by shutdown.

[0042] (2) By identifying obstacles in the construction environment of the tower crane, planning obstacle avoidance solutions, and optimizing the obstacle avoidance solutions, the obtained obstacle avoidance solution can enable the tower crane to perform obstacle avoidance more stably. The dynamic obstacle avoidance adjustment helps reduce accident risks, improve the safety of the construction site, and enables the tower crane to better adapt to different construction environments.

[0043] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the description. And in order to make the above and other purposes, features, and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention are specifically exemplified below. Description of the Drawings

[0044] Figure 1 is a schematic structural diagram of a dynamic stability assisted obstacle avoidance structure of a tower crane disclosed by the present invention;

[0045] Figure 2 is a partial structural schematic diagram of the turntable of a tower crane of a dynamic stability assisted obstacle avoidance structure of a tower crane disclosed by the present invention;

[0046] Figure 3 is a sectional structural schematic diagram of the lifting platform of a tower crane of a dynamic stability assisted obstacle avoidance structure of a tower crane disclosed by the present invention;

[0047] Figure 4 is a structural schematic diagram of the base of a tower crane of a dynamic stability assisted obstacle avoidance structure of a tower crane disclosed by the present invention;

[0048] Figure 5 is an installation schematic diagram of a dynamic stability assisted obstacle avoidance structure of a tower crane and a tower crane disclosed by the present invention;

[0049] Figure 6 is a block diagram of a dynamic obstacle avoidance control system of a dynamic stability assisted obstacle avoidance structure of a tower crane disclosed by the present invention;

[0050] Figure 7 is a schematic flow diagram of the usage method of a dynamic stability assisted obstacle avoidance structure of a tower crane disclosed by the present invention;

[0051] Description of the Reference Numerals: 100, turntable of the tower crane; 101, outer shell; 102, drive motor; 103, worm; 104, worm gear; 105, connecting column; 106, runner;

[0052] 200, lifting platform of the tower crane; 201, support plate; 202, outer strut; 203, inner strut; 204, cross bar; 205, rotating rod; 206, guide rod; 207, transmission bearing; 208, fixed rod; 209, fixed seat;

[0053] 300, Tower crane base; 301, Support chassis; 302, Movable wheels; 303, Lifting push rod; 304, Foot pad; 305, Connection frame; 306, Reinforcement rod; 307, Control box;

[0054] 400, Dynamic obstacle avoidance control system; 401, Sensor array; 402, Obstacle avoidance processing module; 4021, Data fusion unit; 4022, Obstacle recognition unit; 4023, Path planning unit; 4024, Path optimization unit; 403, Decision output module; 404, Control module;

[0055] 500, Tower crane. Specific implementation mode

[0056] To make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0057] Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0058] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0059] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0060] In addition, the terms "first" and "second" are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined.

[0061] Embodiment 1

[0062] Referring to the attached Figure 1-6 As shown, the present invention provides a technical solution: a dynamic stability auxiliary obstacle avoidance structure for a tower crane, including a tower crane turntable 100, the tower crane turntable 100 is arranged at the bottom of the tower crane 500, the tower crane turntable 100 includes a housing 101 and a driving motor 102, a worm 103 is arranged inside the housing 101, the worm 103 is arranged at the output end of the driving motor 102, a worm gear 104 is meshed on one side of the worm 103, and a connecting column 105 is installed at the upper end of the worm gear 104;

[0063] A tower crane lifting platform 200, the tower crane lifting platform 200 is screwed to the bottom of the tower crane turntable 100, the tower crane lifting platform 200 includes two support plates 201, a plurality of X-shaped movable frames, a plurality of cross bars 204 and a rotating rod 205, the same number of X-shaped movable frames are arranged between the two support plates 201, the X-shaped movable frame includes an outer hinge rod 202 and an inner hinge rod 203, the cross bar 204 is arranged between the X-shaped movable frames, and the rotating rod 205 penetrates through the cross bar 204;

[0064] A tower crane base 300, the tower crane base 300 is screwed to the bottom of the tower crane lifting platform 200, the tower crane base 300 includes a support chassis 301, moving wheels 302, foot pads 304 and a control box 307, moving wheels 302 and foot pads 304 are arranged at the four corners of the support chassis 301, and the control box 307 is arranged outside the support chassis 301;

[0065] A dynamic obstacle avoidance control system 400, the dynamic obstacle avoidance control system 400 is wirelessly communicatively connected to the control box 307, the dynamic obstacle avoidance control system 400 is used to monitor obstacles in the usage environment of the tower crane 500, plan an obstacle avoidance path, and control the obstacle avoidance structure to perform obstacle avoidance work.

[0066] The embodiment of the present invention is also implemented through the following technical solutions.

[0067] In an embodiment of the present invention, the drive motor 102 is one of a hydraulic or pneumatic motor. By adjusting the flow rate and pressure of oil or gas, precise control of the rotational speed and torque can be achieved. The output end of the drive motor 102 is in transmission connection with the worm 103. The other end of the worm 103 is screw-connected to a runner 106. The runner 106 is rotatably connected to the housing 101. The rotation of the worm 103 in the housing 101 is stabilized by the runner 106. A ball bearing is provided between the connecting column 105 and the worm gear 104. By using balls instead of sliding contacts, the ball bearing significantly reduces the friction coefficient, ensuring that the rotational movement between the connecting column 105 and the worm gear 104 is more precise and stable. The ball bearing can withstand axial and radial loads, maintaining the relative position between the connecting column 105 and the worm gear 104 stable and preventing displacement caused by the load.

[0068] Specifically, the control box 307 serves as the controller of the entire obstacle avoidance structure. The interior of the control box 307 houses the control and signal components involved in the use of the obstacle avoidance structure. When the tower crane 500 needs to turn for obstacle avoidance, based on the instructions sent from the control module 404 to the control box 307, the control box 307 controls the drive motor 102 to start. The drive motor 102 drives the worm 103 to rotate, and through the cooperation of the worm 103 and the worm gear 104, the tower crane 500 on the upper connecting column 105 is driven to perform a uniform turning for obstacle avoidance.

[0069] In the embodiment of the present invention, the outer twisted rod 202 and the inner twisted rod 203 are rotatably connected by bolts. Connecting the inner and outer twisted rods 202 by bolts does not affect the activities of the two, and the bolt connection has higher strength and can provide a more stable connection. At least four X-shaped movable frames are arranged on the same side of the two support plates 201, and the number of X-shaped movable frames in the horizontal direction and the vertical direction is the same. The outer twisted rods 202 at the bottom and the top are respectively bolted to the support plates 201, and the outer twisted rods 202 at the bottom and the top are installed on the support plates 201 by installing connecting blocks on the connecting plates, and rotate on the connecting blocks. Cross bars 204 are bolted between the relatively arranged inner twisted rods 203, and the number of cross bars 204 is the same as the number of X-shaped movable frames. The inner side areas of the relatively arranged X-shaped movable frames are reinforced by the cross bars 204. The bottom and the top cross bars 204 are penetrated by fixing rods 208, and the cross bars 204 and the fixing rods 208 are connected. The two ends of the fixed rod 208 are screwed with a fixing seat 209 between the support plate 201, and the fixed rod 208 is fixed by the fixing seat 209, and passes through the top and lower ends of the cross bar 204 to reinforce it. The rotating rod 205 is threadedly matched with the cross bar 204, and the outer end of the rotating rod 205 is screwed with a transmission bearing 207, and the transmission bearing 207 is externally connected to a driving motor. By arranging the transmission bearing 207 between the rotating rod 205 and the output end of the external driving motor, the driving motor can control the rotation of the rotating rod 205. Based on the action of the thread, the cross bar 204 will be pushed to move horizontally back and forth on the outer surface of the rotating rod 205, and guide rods 206 are arranged on both sides of the rotating rod 205. The tail end of the guide rod 206 is screwed to the cross bar 204 at the tail end, and the cross bar 204 slides synchronously on the outer surface of the guide rod 206 to stabilize the movement of the cross bar 204 on the rotating rod 205.

[0070] Specifically, when the tower crane 500 needs to be raised or lowered to avoid obstacles, the driving motor is controlled to rotate forward and reverse, and the rotating rod 205 uses a thread to control the horizontal movement of the cross bar 204. When the cross bar 204 moves horizontally, it will drive the inner twisted rod 203 connected to it to move, thereby causing the angle of the X-shaped movable frame to change. Since multiple X-shaped movable frames are provided, this angle change will cause the entire X-shaped movable frame to shift in the vertical direction, thereby achieving lifting and lowering.

[0071] In an embodiment of the present invention, the support chassis 301 is screwed to the support plate 201. Separate drive motors are provided for the moving wheels 302 at the four corners of the support chassis 301, so that each moving wheel 302 can operate and be replaced independently. The upper end of the foot pad 304 is screwed to the lifting push rod 303. A connecting frame 305 is provided between the lifting push rod 303 and the support chassis 301. The connecting frame 305 is welded to the four corners of the support chassis 301. The lifting push rod 303 is installed on the support chassis 301 through the connecting frame 305. According to the lifting of the lifting push rod 303, the foot pad 304 can be lowered or raised. A number of reinforcing rods 306 are bolted to the inner side of the support chassis 301, and the supporting effect of the support chassis 301 is strengthened through the reinforcing rods 306.

[0072] Specifically, when the tower crane 500 needs to work at a fixed position, the hydraulic or pneumatic lifting push rod 303 is used to control the cushion block to move towards the ground and lift the support chassis 301. When the tower crane 500 needs to move, the cushion block is retracted, the support chassis 301 is lowered, and the moving wheels 302 contact the ground for position movement.

[0073] In an embodiment of the present invention, the dynamic obstacle avoidance control system 400 includes a sensor array 401, an obstacle avoidance processing module 402, a decision output module 403, and a control module 404;

[0074] The sensor array 401 is used to monitor the motion state of the tower crane 500 and the obstacles in the surrounding environment, including accelerometers, gyroscopes, cameras, etc. Commonly used sensors also include lidar, ultrasonic sensors, etc. Lidar can provide accurate distance and position information and is suitable for long-distance and high-precision obstacle perception; cameras can detect and identify obstacles through image processing and computer vision algorithms and are suitable for the analysis of object shapes and textures; ultrasonic sensors can measure distances and are used for close-range obstacle detection. According to the specific application scenario, appropriate types and quantities of sensors are selected;

[0075] The obstacle avoidance processing module 402 is used to process the data from the sensor array 401 and perform obstacle avoidance scheme processing. The obstacle avoidance processing module 402 includes a data fusion unit 4021, an obstacle recognition unit 4022, a path planning unit 4023, and a path optimization unit 4024;

[0076] The data fusion unit 4021 uses the Kalman filtering method to fuse the data from different sensors;

[0077] The obstacle recognition unit 4022 uses Euclidean clustering to identify obstacles from the collected relevant data;

[0078] The path planning unit 4023 uses the artificial potential field method to plan the obstacle avoidance path according to the situation of the obstacles;

[0079] The path optimization unit 4024 optimizes the planned path using an improved honey badger optimization algorithm;

[0080] The decision output module 403 converts the optimized obstacle avoidance path plan into control instructions for the tower crane 500, including direction, speed, and acceleration;

[0081] The control module 404 controls the obstacle avoidance structure to perform obstacle avoidance work according to the command signal.

[0082] In the embodiment of the present invention, the detailed steps for the obstacle recognition unit 4022 to recognize obstacles are as follows:

[0083] Step 1, based on the environmental data of the data fusion unit 4021, convert the multi-modal data into point cloud format, remove outliers and irrelevant points, and use statistical methods or density-based methods to reduce the computational amount;

[0084] Step 2, set the parameters of the clustering algorithm, such as clustering tolerance, minimum number of clustering points, etc., select the initial clustering center based on the density distribution of the point cloud, calculate the Euclidean distance between each point in the point cloud and each clustering center, and assign each data point to the clustering where the nearest clustering center is located;

[0085] Step 3, during the clustering process, detect the distance between clusters. If the boundaries of two clusters are very close or there is an overlapping part, process the overlapping part. If two clusters overlap severely, merge them into a larger cluster, and recalculate the cluster features, or use segmentation techniques to separate the overlapping clusters, such as hierarchical clustering, or adjust the cluster boundaries according to the cluster features to reduce the overlap. Analyze the features of each cluster, such as size, shape, density, etc., train a classifier using machine learning algorithms, input the cluster features, and output the obstacle type, such as support vector machine, random forest, neural network. Input the features of the clusters into the trained classifier, and distinguish different types of obstacles according to the classification results to determine whether there are obstacles in real-time monitoring;

[0086] Step 4, track the position and motion state of the obstacles in consecutive data frames, update the information of the obstacles according to the real-time data, calculate the average value of the feature vectors of all the data points in the clusters, and update the cluster centers to the calculated average values to maintain the accuracy of recognition.

[0087] In the embodiment of the present invention, the detailed steps for the path planning unit 4023 to perform path planning are as follows:

[0088] Step a: Use the artificial potential field method to establish a potential field model for the working environment of the tower crane 500. Convert the obstacles and target points in the environment into a repulsive force field and an attractive force field in the potential field. The attractive force field is used to attract the tower crane 500 to move towards the target position, and the repulsive force field repels the tower crane 500 from colliding with the obstacles through the interaction between the obstacles and the tower crane 500.

[0089] Step b: In the potential field, the target point exerts an attractive force on the tower crane 500. The magnitude of the attractive force is inversely proportional to the distance between the tower crane 500 and the target point, and the direction points to the target point. The obstacle exerts a repulsive force on the tower crane 500, and its magnitude is inversely proportional to the distance between the tower crane 500 and the obstacle, and the direction is away from the obstacle. The total force on the tower crane 500 in the potential field is the vector sum of the attractive force and the repulsive force. Set the initial position of the tower crane 500, and update the position of the tower crane 500 according to the total force at the current position of the tower crane 500 in each time period. The time step is determined according to the dynamic characteristics of the tower crane 500 and the environmental change speed. When the tower crane 500 approaches the target point, the attractive force will gradually decrease, and the repulsive force will also decrease due to moving away from the obstacle. If there is no obstacle at the new position of the tower crane 500, stop the adjustment; otherwise, it is necessary to recalculate the force and adjust the obstacle avoidance plan.

[0090] In addition, the velocity update formula: v new = v old + △t * α, where v old is the previous velocity, α is the acceleration, and △t is the time step;

[0091] Acceleration calculation formula: where f is the total force and m is the mass of the tower crane

[0092] Position update formula: p new = p old + △t * v new , where p is the position, old and new are the previous position and the new position;

[0093] When there are multiple obstacles, calculate the repulsive force of each obstacle and add them vectorially. When there are multiple target points, set a main target point, and other target points generate smaller attractive forces according to the priority, and introduce random perturbations or use strategies such as simulated annealing to help the algorithm jump out of the local minimum;

[0094] The detailed steps for the path optimization unit 4024 to perform path optimization are as follows:

[0095] Step A: Initialize the honey badger population based on the potential field model, and randomly assign an initial position to each honey badger individual. These positions should cover the entire search space. Each individual in the honey badger population represents each obstacle avoidance path. The size of the honey badger population is determined according to the problem size and environmental complexity;

[0096] Step B, in the potential field, the honey badger individuals move according to the gravitational and repulsive forces in the potential field, simulate path search, explore different obstacle avoidance paths, and continuously update the positions of the honey badger individuals, that is, the individuals update their positions according to the force situation at each time step, simulate the process of path search, and find effective obstacle avoidance paths;

[0097] Step C, evaluate the paths explored by each honey badger individual, and select a suitable path plan from the paths, such as those with high safety, short paths, etc. Safety means whether the path avoids all obstacles and is within a safe distance, whether the path length is the shortest, and whether it reaches the target at the fastest speed. The weights of different variables can also be analyzed according to principal component analysis to adjust appropriate evaluation criteria;

[0098] Step D, perform local search on each honey badger individual using the local search algorithm, conduct optimized path search within a small range, update the path according to the search results of the honey badger individuals, monitor the performance of the algorithm during the optimization process, such as the convergence speed, diversity of solutions, etc., and adaptively adjust the algorithm parameters according to the monitoring results to maintain the dynamic balance of the algorithm. Set convergence conditions, such as reaching the maximum number of iterations or the change in the solution being less than the threshold. When the algorithm converges, output the current optimized path as the final optimized result;

[0099] Step E, obtain the final optimized obstacle avoidance path plan, and control the obstacle avoidance structure to perform obstacle avoidance work. During the execution of the obstacle avoidance path by the tower crane 500, use sensors to real-time monitor the position, speed, and environmental changes of the tower crane 500, and real-time monitor its motion state. If new obstacles or environmental changes are detected, immediately re-plan the path or adjust the current path to ensure safety.

[0100] Example:

[0101] Suppose the tower crane 500 is working and needs to lift building materials from the ground to a 20-meter-high building platform. The sensor array 401 detects that a worker (obstacle A) is 8 meters horizontally away from the tower crane base, and the worker is walking straight towards the tower crane 500. The control system identifies the position and movement trajectory of the worker, calculates the potential collision point, and the dynamic obstacle avoidance control system 400 quickly generates an obstacle avoidance plan. The tower crane base needs to be raised by 2 meters and rotated 20 degrees clockwise to avoid the worker. The control module 404 sends instructions to the tower crane turntable 100 and the tower crane lifting platform 200. The tower crane lifting platform 200 raises the tower crane base at a speed of 0.4 m / s, and the tower crane turntable 100 rotates the tower crane base at a speed of 5 degrees / s. After the obstacle avoidance operation is executed, the worker safely passes through the original working area of the tower crane base. The control system continues to monitor and confirms that the worker has left the tower crane operation area. The tower crane base descends back to the original height at the same speed and rotates back to the original position in the reverse direction. The tower crane resumes normal operation and continues to lift building materials.

[0102] Example 2

[0103] Refer to the appendix Figure 7 As shown, a method for using an auxiliary obstacle avoidance structure for the dynamic stability of a tower crane provided by another embodiment of the present invention includes the following steps:

[0104] S1. Install an obstacle avoidance structure at the bottom of the tower crane 500, install the sensor array 401 on the tower crane 500, and install a hydraulic damper at the joint of the hook or the boom. When the hook swings, the liquid flows through the valves or holes inside the damper to generate resistance, thereby absorbing and reducing the kinetic energy of the hook and achieving the purpose of reducing sway;

[0105] S2. The sensor array 401 transmits the monitoring data to the dynamic obstacle avoidance control system 400 in real time. The obstacle recognition unit 4022 recognizes obstacles from the monitoring data and gives an obstacle avoidance plan based on the data of the obstacles, and converts the obstacle avoidance plan into a control instruction;

[0106] S3. The control module 404 issues corresponding instructions to the obstacle avoidance structure to make the tower crane 500 move smoothly in a safe direction;

[0107] S4. After the obstacle avoidance is completed, the dynamic obstacle avoidance control system 400 continues to monitor until the tower crane 500 completes its work.

[0108] The above is only the preferred embodiment of the present invention and is not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

[0109] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process can be rearranged without departing from the protection scope of the present disclosure. The appended method claims present the elements of the various steps in an exemplary order and are not intended to be limited to the specific order or hierarchy.

[0110] In the above detailed description, various features are combined in a single embodiment to simplify the present disclosure. This method of disclosure should not be interpreted as reflecting an intention that the embodiments of the claimed subject matter require more features than are expressly stated in each claim. On the contrary, as reflected in the appended claims, the present invention lies in a state less than all the features of the single disclosed embodiment. Therefore, the appended claims are hereby expressly incorporated into the detailed description, where each claim stands alone as a separate preferred embodiment of the present invention.

[0111] Those skilled in the art should also understand that all the illustrative logical blocks, modules, circuits and algorithm steps described in connection with the embodiments herein can be implemented as electronic hardware, computer software or a combination thereof. To clearly illustrate the interchangeability between hardware and software, the above-described various illustrative components, blocks, modules, circuits and steps have been generally described in terms of their functions. Whether such a function is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. Skilled technicians can implement the described functions in a flexible manner for each specific application. However, such implementation decisions should not be construed as departing from the scope of protection of this disclosure.

[0112] The steps of the methods or algorithms described in connection with the embodiments herein can be directly embodied as hardware, software modules executed by a processor, or a combination thereof. The software modules can be located in a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium well-known in the art. An exemplary storage medium is connected to the processor so that the processor can read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC. The ASIC can be located in a user terminal. Of course, the processor and the storage medium can also exist as discrete components in the user terminal.

[0113] For software implementation, the techniques described in this application can be implemented using modules (e.g., procedures, functions, etc.) that perform the functions described in this application. These software codes can be stored in a memory unit and executed by a processor. The memory unit can be implemented inside the processor or outside the processor. In the latter case, it is communicatively coupled to the processor by various means, which are well-known in the art.

[0114] The above description includes examples of one or more embodiments. Of course, it is impossible to describe all possible combinations of components or methods for the purpose of describing the above embodiments. However, those of ordinary skill in the art should recognize that the various embodiments can be further combined and arranged. Therefore, the embodiments described herein are intended to cover all such changes, modifications and variations that fall within the scope of protection of the appended claims. In addition, with respect to the term "comprising" used in the specification or claims, the manner in which this term is encompassed is similar to the term "including" as interpreted when "including" is used as a transitional word in the claims. In addition, any term "or" used in the claims or the specification is intended to mean "non-exclusive or".

Claims

1. A tower crane dynamic stability auxiliary obstacle avoidance structure, characterized in that: The tower crane turntable (100) is provided at the bottom of the tower crane (500), the tower crane turntable (100) comprises a housing (101) and a drive motor (102), a worm (103) is provided inside the housing (101), the worm (103) is provided at the output end of the drive motor (102), a worm wheel (104) is meshed on one side of the worm (103), and a connecting column (105) is installed on the upper end of the worm wheel (104); A tower crane lifting platform (200), wherein the screw connector of the tower crane lifting platform (200) is at the bottom of the tower crane rotating platform (100), the tower crane lifting platform (200) comprises two support plates (201), a plurality of X-shaped movable frames, a plurality of cross bars (204) and a rotating rod (205), the same number of X-shaped movable frames are arranged between the two support plates (201), the X-shaped movable frames comprise an outer twisting rod (202) and an inner twisting rod (203), the cross bar (204) is arranged between the X-shaped movable frames, and the rotating rod (205) passes through the cross bar (204); A tower crane base (300), the tower crane base (300) is screwed to the bottom of the tower crane lifting platform (200), the tower crane base (300) comprises a supporting frame (301), moving wheels (302), pads (304) and a control box (307), the four corners of the supporting frame (301) are each provided with moving wheels (302) and pads (304), and the control box (307) is arranged on the outside of the supporting frame (301); A dynamic obstacle avoidance control system (400), the dynamic obstacle avoidance control system (400) is wirelessly connected to the control box (307), and the dynamic obstacle avoidance control system (400) is used to monitor obstacles in the use environment of the tower crane (500), plan an obstacle avoidance path, and control the obstacle avoidance structure to perform obstacle avoidance work.

2. The tower crane dynamic stability auxiliary obstacle avoidance structure according to claim 1 is characterized in that: The drive motor (102) is a hydraulic or pneumatic motor. The output end of the drive motor (102) is transmission-connected to the worm (103). The other end of the worm (103) is screw-connected to a rotating wheel (106). The rotating wheel (106) is rotationally connected to the housing (101). A ball bearing is provided between the connecting column (105) and the worm wheel (104).

3. The tower crane dynamic stability auxiliary obstacle avoidance structure according to claim 2 is characterized in that: The outer twisted rod (202) and the inner twisted rod (203) are rotatably connected by bolts. At least four X-shaped movable frames are arranged on the same side of the two support plates (201). The outer twisted rods (202) at the bottom and the top are respectively bolted to the support plates (201). The cross bar (204) is bolted between the inner twisted rods (203) arranged opposite to each other. The bottom and the top of the cross bars (204) are penetrated by fixed rods (208). The cross bar (204) is slidably connected to the fixed rod (208). A fixed seat (209) is screwed between the two ends of the fixed rod (208) and the support plates (201). The rotating rod (205) is threadedly matched with the cross bar (204). The outer end of the rotating rod (205) is screwed to a transmission bearing (207). The transmission bearing (207) is externally connected to a driving motor.

4. The tower crane dynamic stability auxiliary obstacle avoidance structure according to claim 3 is characterized in that: The support frame (301) is screwed to the support plate (201), the moving wheels (302) at the four corners of the support frame (301) are each provided with a separate driving motor, the upper end of the foot (304) is screwed to a lifting push rod (303), a connecting frame (305) is provided between the lifting push rod (303) and the support frame (301), the connecting frame (305) is welded to the four corners of the support frame (301), and a plurality of reinforcing rods (306) are bolted to the inner side of the support frame (301).

5. The tower crane dynamic stability auxiliary obstacle avoidance structure according to claim 4, characterized in that: The dynamic obstacle avoidance control system (400) comprises a sensor array (401), an obstacle avoidance processing module (402), a decision output module (403) and a control module (404); The sensor array (401) is used to monitor the motion state of the tower crane (500) and obstacles in the surrounding environment; The obstacle avoidance processing module (402) is used to process data from the sensor array (401) and perform obstacle avoidance solution processing, and the obstacle avoidance processing module (402) includes a data fusion unit (4021), an obstacle identification unit (4022), a path planning unit (4023) and a path optimization unit (4024); The data fusion unit (4021) fuses data from different sensors using a Kalman filter method; The obstacle identification unit (4022) uses Euclidean clustering to perform obstacle identification on the collected relevant data; The path planning unit (4023) uses an artificial potential field method to plan an obstacle avoidance path according to the situation of obstacles; The path optimization unit (4024) optimizes the planned path using an improved honey badger optimization algorithm; The decision output module (403) converts the optimized obstacle avoidance path plan into control instructions for the tower crane (500), including direction, speed and acceleration; The control module (404) controls the obstacle avoidance structure to perform obstacle avoidance work according to the command signal.

6. The tower crane dynamic stability auxiliary obstacle avoidance structure according to claim 5, characterized in that: The detailed steps of obstacle identification by the obstacle identification unit (4022) are as follows: Step 1, based on the environmental data of the data fusion unit (4021), converting the multimodal data into a point cloud format, removing outliers and irrelevant points; Step 2: Set the parameters of the clustering algorithm, select the initial cluster center based on the density distribution of the point cloud, calculate the Euclidean distance between each point in the point cloud and each cluster center, and assign each data point to the cluster with the closest cluster center; Step 3: During the clustering process, the distance between clusters is detected. If the boundaries of two clusters are very close or overlapped, the overlapped parts are processed, the features of each cluster are analyzed, and a classifier is trained using a machine learning algorithm. The cluster features are input and the obstacle type is output. The cluster features are input into the trained classifier, and different types of obstacles are distinguished according to the classification results to determine whether there are obstacles in the real-time monitoring. Step 4: Track the position and motion state of the obstacle in continuous data frames, and update the obstacle information based on real-time data to maintain recognition accuracy.

7. The tower crane dynamic stability auxiliary obstacle avoidance structure according to claim 6, characterized in that: The detailed steps of the path planning unit (4023) for path planning are as follows: Step a, using an artificial potential field method to establish a potential field model for the working environment of the tower crane (500), and transforming obstacles and target points in the environment into repulsive fields and attractive fields in the potential field; Step b, setting the initial position of the tower crane (500), updating the position of the tower crane (500) in each time period according to the total force at the current position of the tower crane (500), and stopping the adjustment if there is no obstacle at the new position of the tower crane (500); otherwise, recalculating the force and adjusting the obstacle avoidance scheme; The detailed steps of the path optimization unit (4024) for performing path optimization are as follows: Step A, initialize the honey badger population based on the potential field model, randomly assign an initial position to each honey badger individual, and each individual in the honey badger population represents each obstacle avoidance path; Step B, in the potential field, the honey badger individual moves according to the gravitational force and repulsive force in the potential field, simulates path search, explores different obstacle avoidance paths, and continuously updates the position of the honey badger individual, simulates the path search process, and finds an effective obstacle avoidance path; Step C, evaluate the path explored by each honey badger individual and select the appropriate path plan from the paths; Step D, using the local search algorithm to perform local search on each honey badger individual, perform optimization path search in a small range, update the path according to the search results of the honey badger individual, set the convergence condition, and when the algorithm converges, output the current optimization path as the final optimization result; Step E: obtaining the final obstacle avoidance path optimization solution and controlling the obstacle avoidance structure to perform obstacle avoidance work.

8. A method for using a tower crane dynamic stability auxiliary obstacle avoidance structure, applied to a tower crane dynamic stability auxiliary obstacle avoidance structure according to any one of claims 1 to 7, characterized in that: The following steps are involved: S1, installing an obstacle avoidance structure at the bottom of a tower crane (500), installing the sensor array (401) on the tower crane (500), and installing a hydraulic damper at a joint of a hook or a boom; S2, the sensor array (401) transmits the monitoring data to the dynamic obstacle avoidance control system (400) in real time, the obstacle recognition unit (4022) recognizes obstacles on the monitoring data, and provides an obstacle avoidance plan based on the obstacle data, and converts the obstacle avoidance plan into a control instruction; S3, the obstacle avoidance structure of the control module (404) issues a corresponding instruction to enable the tower crane (500) to move smoothly in a safe direction; S4, after the obstacle avoidance is completed, the dynamic obstacle avoidance control system (400) continues to monitor until the tower crane (500) is fully operational.

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