A template hoisting method and hoisting device

Abstract

The present invention provides a template hoisting method and a hoisting device, which belong to the technical field of building hoisting. The template hoisting method includes S1. detecting whether the quality of the building template meets the requirements; S2. hoisting the building template that meets the requirements by hoisting equipment; S3. detecting the weight of the building template in real time by load detection equipment; S4. adjusting the hoisting speed of the building template according to the data fed back by the load detection equipment; S5. constructing a three-dimensional working environment based on scanning of a three-dimensional construction equipment, and planning the hoisting movement path in combination with the hoisting position and the installation position. The present invention divides different weight intervals, each weight interval corresponds to a hoisting speed, determines which weight interval the weight data of the building template is in, and then controls the hoisting equipment through a central processing unit to reach the corresponding hoisting speed. Manual adjustment of the hoisting speed of the hoisting equipment is unnecessary, thereby improving the safety of the hoisting operation.

Description

Technical Field

[0001] The invention belongs to the technical field of building hoisting, and in particular relates to a template hoisting method and a hoisting device. Background Art

[0002] Building formwork is a temporary support structure mainly used in concrete construction to ensure that concrete structures or components can be formed according to the designed position and geometric dimensions and maintain their correct position. Commonly used building formwork includes wooden formwork, steel formwork, aluminum formwork, plastic formwork, composite formwork, etc. The core purpose of building formwork hoisting is to complete the transportation and installation of formwork safely, efficiently and accurately through mechanized means. It is an indispensable part of modern construction and is especially suitable for high-rise, large-span or tight-schedule projects.

[0003] Existing lifting operations rely entirely on manual operation and are significantly affected by the operator's level of experience. Inexperienced operators may be unfamiliar with the operation of the equipment, resulting in excessive control of the handle or pedal. During manual operation, sudden stops or acceleration may cause the formwork to shake, which may create the risk of collision between the formwork and the building structure or personnel. The safety hazards are prominent, and operators are prone to fatigue after working for a long time, and the decrease in attention will significantly increase the probability of misoperation.

[0004] Furthermore, existing hoisting routes rely entirely on manual judgment, which presents two drawbacks: First, inexperienced operators tend to choose complex routes, resulting in frequent changes in direction and ineffective movements, reducing crane efficiency; second, the construction site environment is dynamically changing, and manual monitoring can lag behind. This is especially true when workers, fatigued by prolonged work, are less able to respond to environmental changes, making it highly likely that equipment collisions and other safety incidents will occur.

[0005] Therefore, in order to solve the above problems, it is necessary to provide a template hoisting method and a hoisting device. Summary of the Invention

[0006] The purpose of the present invention is to provide a formwork hoisting method and a hoisting device, aiming to solve the problem in the prior art that the existing hoisting operation relies entirely on manual operation and is significantly affected by the experience level of the operator. Inexperienced operators may be unfamiliar with the operation of the equipment, resulting in excessive control of the handle or pedal, sudden stop or acceleration causing the formwork to shake during manual operation, which may cause the risk of collision between the formwork and the building structure or personnel, and the safety hazards are prominent. In addition, operators are prone to fatigue after working for a long time, and the decreased attention will significantly increase the probability of misoperation. The existing hoisting path relies entirely on manual experience judgment, which has two disadvantages: first, it is easy to choose complex routes when there is insufficient experience, resulting in frequent changes in direction and invalid movements, reducing the operating efficiency of the tower crane; second, the construction site environment changes dynamically, and there is a lag in manual monitoring. In particular, when the staff are tired after working for a long time, their ability to respond to changes in the surrounding environment is reduced, which can easily cause safety accidents such as equipment collisions.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A formwork hoisting method comprises the following steps:

[0009] S1. Check whether the quality of the building formwork meets the requirements;

[0010] S2. Use hoisting equipment to hoist the building formwork that meets the requirements;

[0011] S3. Real-time detection of the weight of the building template by load detection equipment;

[0012] S4. Adjust the hoisting speed of the building template according to the data feedback from the load detection equipment;

[0013] S5. Construct a three-dimensional working environment based on the scanning of the three-dimensional construction equipment, and plan the hoisting movement path in combination with the hoisting position and installation position.

[0014] Preferably, the S4 includes:

[0015] S41. Divide into different weight ranges, each weight range corresponds to a lifting speed;

[0016] S42. Determine the weight range in which the load detection device's detection value is located;

[0017] S43. Adjust the hoisting speed to the corresponding speed of the corresponding weight range.

[0018] Preferably, the S5 includes:

[0019] S51. During the hook descent, the 3D construction equipment scans the surroundings of the lifting equipment to construct the overall 3D working environment;

[0020] S52. Select the installation location in the 3D working environment and plan the lifting path based on the lifting position and installation location;

[0021] S53. During the lifting and moving process, the surrounding environment is scanned in real time by the 3D construction equipment to optimize the path;

[0022] S54. During hoisting and moving, reduce the hoisting speed before approaching a work environment without buildings;

[0023] S55. During the hoisting movement process, the hoisting movement stroke is monitored in real time through the three-dimensional construction equipment, and the hoisting speed is reduced before the direction of the movement path changes.

[0024] Preferably, the hoisting speed in S41 decreases as the weight range increases.

[0025] Preferably, the S53 includes:

[0026] S531. Set the lifting unit displacement L. Each time the lifting unit moves to a distance of L, the 3D construction device will scan the surrounding environment once.

[0027] S532. According to each 3D construction equipment scan, segment verification S52 planning path feasibility;

[0028] S533. If the currently planned road section is passable, the current hoisting movement state is maintained; if the currently planned road section is not passable, the current path is replanned to meet the hoisting movement requirements.

[0029] Preferably, the S54 includes:

[0030] S541. According to the building height of the overall three-dimensional working environment in S51, set an adjustment spacing H downward, and the adjustment spacing H is greater than the unit displacement L;

[0031] S542. According to the current hoisting speed V1, set the hoisting speed V2 lower than V1;

[0032] S543. According to each three-dimensional construction equipment scan, determine whether the current hoisting position is on the path of the adjustment spacing H;

[0033] S544. If the current hoisting position is on the path within the adjustment interval H, adjust the current hoisting speed to V2;

[0034] S545. If the current hoisting position is not on the path within the adjustment interval H, maintain the current hoisting speed V1.

[0035] Preferably, the S55 includes:

[0036] S551. Set a threshold distance s before the moving direction in the planned path changes, and the threshold distance s is greater than the unit displacement L;

[0037] S552. According to the current hoisting speed V3, set the hoisting speed V4 lower than V3;

[0038] S553. According to each three-dimensional construction equipment scan, determine whether the current hoisting position is on the path within the threshold spacing s;

[0039] S554. If the current hoisting position is on a path within the threshold distance s, adjust the current hoisting speed to V4;

[0040] S555. If the current hoisting position is not on a path within the threshold distance s, maintain the current hoisting speed V3.

[0041] A template hoisting device comprises hoisting equipment, a hook, a steel wire rope and a central processing unit.

[0042] Preferably, the load detection device and the three-dimensional construction device are arranged at the connection between the hook and the wire rope.

[0043] Preferably, the load detection device can detect the weight data of the items on the hook and feed it back to the central processing unit for processing and analysis. The central processing unit can adjust the lifting speed by controlling the rotation speed of the lifting equipment. The three-dimensional construction device can scan the surrounding environment information and feed it back to the central processing unit for constructing a three-dimensional environment. The central processing unit can realize intelligent planning of the lifting path based on the three-dimensional environment.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] 1. The present invention divides the weight into different intervals, each weight interval corresponds to a lifting speed, and determines whether the weight data of the material on the hook detected by the load detection equipment is in that weight interval. Then, the central processing unit controls the rotation speed of the lifting equipment to make its lifting speed reach the lifting speed corresponding to the weight interval. Therefore, there is no need to manually adjust the lifting speed of the lifting equipment, avoiding sudden stops or acceleration-induced template shaking, which can greatly reduce the operator's working time, reduce the probability of misoperation, and improve the safety of lifting operations.

[0046] 2. During the process of hook descent, the present invention uses a three-dimensional construction device to scan the surrounding environment of the hoisting device 1 to construct an overall three-dimensional working environment. The central processing unit intelligently plans a relatively simple route based on the hoisting position and the installation position. There is no need to manually select the route, which avoids complex paths and improves the operation efficiency of the tower crane. The feasibility of the S52 planned path can be verified in sections through each scanning of the three-dimensional construction device. If the currently planned section is impassable, the current path is replanned. There is no need to manually monitor changes in the surrounding environment, which can avoid safety accidents such as undetectable equipment collisions and improve safety performance.

[0047] 3. The present invention sets an adjustment interval H from the highest position of the building downward according to the building height displayed on the central processor. At the same time, the central processor sets a hoisting speed V2 lower than V1 according to the current hoisting speed V1. Each time the hoisting movement distance reaches L, the three-dimensional construction device will scan the surrounding environment once, and the central processor will process the results of each three-dimensional construction device scan to determine the position of the hook each time the three-dimensional construction device scans. If the current position is on the path in the adjustment interval H, the central processor will adjust the hoisting speed to V2, reduce the hoisting speed in advance, improve stability, and avoid external factors having a greater impact on the hoisting building formwork at the moment of coming out from between the buildings.

[0048] 4. The present invention sets a threshold spacing s before the moving direction in the planned path displayed on the central processor changes. At the same time, the central processor sets a lifting speed V4 lower than V3 according to the current lifting speed V3. Each time the lifting movement distance reaches L, the three-dimensional construction device will scan the surrounding environment once, and the central processor will process the results of each three-dimensional construction device scan to determine the position of the hook each time the three-dimensional construction device scans. If the current position is on the path within the threshold spacing s, the central processor will adjust the lifting speed to V4, which can reduce the lifting speed in advance, improve stability, avoid changing the lifting direction at a higher speed, and prevent large shaking. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0050] Figure 1 It is a schematic flow chart of the template hoisting method of the present invention;

[0051] Figure 2 This is a schematic diagram of the specific process of step S4 of the present invention;

[0052] Figure 3 This is a schematic diagram of the specific process of step S5 of the present invention;

[0053] Figure 4 Schematic diagram of the specific process of step S53 of the present invention;

[0054] Figure 5 Schematic diagram of the specific process of step S54 of the present invention;

[0055] Figure 6 Schematic diagram of the specific process of step S55 of the present invention;

[0056] Figure 7 It is a structural schematic diagram of the lifting device of the present invention.

[0057] In the figure: 1. Lifting equipment; 2. Hook; 3. Wire rope; 4. Central processing unit; 5. Load detection equipment; 6. 3D construction equipment. DETAILED DESCRIPTION

[0058] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0059] Example 1

[0060] Existing lifting operations rely entirely on manual operation and are significantly affected by the operator's level of experience. Inexperienced operators may be unfamiliar with the operation of the equipment, resulting in excessive control of the handle or pedal. During manual operation, sudden stops or acceleration may cause the formwork to shake, which may create the risk of collision between the formwork and the building structure or personnel. The safety hazards are prominent, and operators are prone to fatigue after working for a long time, and the decrease in attention will significantly increase the probability of misoperation.

[0061] See also Figures 1 to 6 The present invention provides the following technical solution: a template hoisting method, comprising the following steps:

[0062] S1. Check whether the quality of the building formwork meets the requirements;

[0063] S2. Hoisting equipment 1 hoists the building template that meets the requirements;

[0064] S3 real-time detection of the weight of the building template by the load detection device 5;

[0065] S4. According to the data feedback from the load detection device 5, the hoisting speed of the building template is adjusted;

[0066] S5. The three-dimensional working environment is scanned and constructed by the three-dimensional construction device 6 , and a hoisting movement path is planned in combination with the hoisting position and the installation position.

[0067] Step S4 includes:

[0068] S41. Divide into different weight ranges, each weight range corresponds to a lifting speed;

[0069] S42. Determine the weight range in which the detection value of the load detection device 5 is located;

[0070] S43. Adjust the hoisting speed to the corresponding speed of the corresponding weight range.

[0071] Multiple groups of weight intervals are set in the central processing unit 4. The load detection device 5 can detect the weight signal of the material on the hook 2, which can be fed back to the central processing unit 4 for processing. The central processing unit 4 can determine which weight interval the weight value detected by the load detection device 5 is in. Then the central processing unit 4 controls the rotation speed of the lifting device 1 so that its lifting speed reaches the lifting speed corresponding to the weight interval.

[0072] In S41, the hoisting speed decreases as the weight range increases.

[0073] It should be noted that different weight intervals are divided, and each weight interval corresponds to a lifting speed. For example, the weight intervals are 0kg-25kg, 25kg-50kg, and 50kg-75kg. The lifting speed corresponding to the weight interval of 0kg-25kg is 3m / min, the lifting speed corresponding to the weight interval of 25kg-50kg is 2m / min, and the lifting speed corresponding to the weight interval of 50kg-75kg is 1m / min. The lifting speed corresponding to the weight interval of 50kg-75kg is lower than the lifting speed corresponding to the weight interval of 25kg-50kg. The purpose is that the heavier the construction formwork, the greater the inertia. If high-speed lifting or braking is performed, the inertia force may cause the load to swing, the wire rope 3 to break, or the crane to become unstable. Therefore, reducing the speed can reduce the dynamic impact force and improve stability.

[0074] The division of weight intervals and the determination of corresponding lifting speeds should be set based on actual tests.

[0075] See also Figure 7 , a template hoisting device, the hoisting device includes a hoisting device 1, a hook 2, a wire rope 3 and a central processing unit 4;

[0076] The load detection device 5 and the three-dimensional construction device 6 are arranged at the connection between the hook 2 and the wire rope 3;

[0077] The load detection device 5 can detect the weight data of the items on the hook 2 and feed it back to the central processor 4 for processing and analysis. The central processor 4 can adjust the lifting speed by controlling the rotation speed of the lifting device 1. The three-dimensional construction device 6 can scan the surrounding environment information and feed it back to the central processor 4 for constructing a three-dimensional environment. The central processor 4 can realize intelligent planning of the lifting path based on the three-dimensional environment.

[0078] The load detection device 5 may adopt a strain gauge load sensor, and the three-dimensional construction device 6 may adopt a laser radar. Both the strain gauge load sensor and the laser radar are existing technologies and will not be described in detail here.

[0079] To sum up, the present invention divides the weight into different intervals, each weight interval corresponds to a lifting speed, and determines whether the weight data of the material on the hook 2 detected by the load detection device 5 is in that weight interval. Then, the central processor 4 controls the rotation speed of the lifting device 1 so that its lifting speed reaches the lifting speed corresponding to the weight interval. Therefore, there is no need to manually adjust the lifting speed of the lifting device 1, avoiding the occurrence of emergency stops or acceleration-induced template shaking, which can greatly reduce the operator's working time, reduce the probability of misoperation, and improve the safety of lifting operations.

[0080] Example 2

[0081] Based on the above examples, existing hoisting routes also rely entirely on manual judgment, which has two drawbacks: First, inexperienced workers are prone to choosing complex routes, resulting in frequent changes in direction and ineffective movements, reducing crane efficiency; second, the construction site environment is dynamically changing, and manual monitoring is lagging. In particular, workers who are fatigued after long hours of work have a reduced ability to respond to changes in the surrounding environment, which can easily lead to safety accidents such as equipment collisions.

[0082] See also Figures 3 to 6 , step S5 includes:

[0083] S51. During the descent of the hook 2, the three-dimensional construction device 6 scans the surrounding environment of the hoisting device 1 to construct the overall three-dimensional working environment;

[0084] S52. Select the installation location in the 3D working environment and plan the lifting path based on the lifting position and installation location;

[0085] S53. During the lifting and moving process, the surrounding environment is scanned in real time by the three-dimensional construction device 6 to optimize the path;

[0086] S54. During lifting and moving, reduce the lifting speed before approaching a working environment without buildings.

[0087] Usually when there is no hoisting, the hook 2 is located below the bottom of the hoisting device 1, that is, they are close to each other and located at a high place. During hoisting, the wire rope 3 can drive the hook 2 to move down by starting the hoisting device 1. The existing technology will not be repeated. During this process, the surrounding environment can be scanned multiple times by the three-dimensional construction device 6 and transmitted to the central processor 4 to construct an overall three-dimensional environment. The three-dimensional construction device 6 can be a laser radar. Constructing an overall three-dimensional environment by scanning multiple times by the laser radar is an existing technical means and will not be repeated here. For example, when the hoisting device 1 is 150 meters above the ground and the scanning range of the three-dimensional construction device 6 is 25 meters, the hook 2 moves down 20 meters each time for a scan, and an overall 150-meter three-dimensional environment is constructed through multiple scans.

[0088] The downward movement distance of the hook 2 each time should be lower than the scanning range of the three-dimensional construction device 6, so as to avoid the existence of a working environment that is not scanned when scanning and constructing a three-dimensional environment.

[0089] The surrounding environment is scanned multiple times by the three-dimensional construction device 6 and transmitted to the central processor 4 to construct an overall three-dimensional environment. The initial moving position is determined to be the hoisting position, and the hoisting installation position is selected according to the three-dimensional environment displayed in the central processor 4, that is, the end position of the hoisting movement. The central processor 4 can use AI calculation to analyze the surrounding working environment through the hoisting position and the installation position, and can intelligently plan a relatively simple route. The existing technical means will not be repeated here. Therefore, there is no need for manual path planning, which avoids the complexity of the path and can improve the operation efficiency of the tower crane.

[0090] Step S53 includes:

[0091] S531 sets the lifting unit displacement L, each time the lifting distance reaches L, the three-dimensional construction device 6 will scan the surrounding environment once;

[0092] S532. According to each scan of the three-dimensional construction device 6, the feasibility of the segmented verification S52 planning path;

[0093] S533. If the currently planned road section is passable, the current hoisting movement state is maintained; if the currently planned road section is not passable, the current path is replanned to meet the hoisting movement requirements.

[0094] It should be noted that the lifting unit displacement L is set on the central processor 4. Whenever the lifting movement distance reaches L, the three-dimensional construction device 6 will scan the surrounding environment once, wherein the lifting unit displacement L should be lower than the scanning range of the three-dimensional construction device 6. For example, the three-dimensional construction device 6 is a fixed medium-range laser radar that can scan 30 to 100 meters within a range of 120° to 180°. Then the lifting unit displacement L should be lower than 100 meters. The purpose is to avoid the distance of each lifting movement exceeding the radar scanning distance, prevent the lifting movement distance from exceeding the path verification distance, and improve the accuracy of path verification.

[0095] According to the different radar models selected by the three-dimensional construction device 6, different numbers of radars should be set to meet 360-degree scanning and ensure that the environment around the hoisting device 1 can be recorded and constructed on the central processor 4.

[0096] Step S54 includes:

[0097] S541. According to the building height of the overall three-dimensional working environment in S51, set an adjustment spacing H downward, and the adjustment spacing H is greater than the unit displacement L;

[0098] S542. According to the current hoisting speed V1, set the hoisting speed V2 lower than V1;

[0099] S543. According to each scanning situation of the three-dimensional construction device 6, it is determined whether the current hoisting position is on the path of the adjustment spacing H;

[0100] S544. If the current hoisting position is on the path within the adjustment interval H, adjust the current hoisting speed to V2;

[0101] S545. If the current hoisting position is not on the path within the adjustment interval H, maintain the current hoisting speed V1.

[0102] The adjustment spacing H is set to be larger than the unit displacement L in order to avoid directly skipping the section with the adjustment spacing H after the lifting distance moves once L.

[0103] It should be noted that during the hoisting process, when the hook 2 is located between buildings, the surrounding buildings can act as a barrier, reducing the impact of external factors on the hoisted building formwork, such as wind. However, as the hoisting height increases, without the obstruction of buildings, the surrounding wind will become stronger, which will increase the risk of shaking, especially at the moment of exiting from between buildings, where the impact is greatest. For this reason, according to the building height displayed on the central processor 4, an adjustment spacing H is set downward from the highest position of the building. At the same time, the central processor 4 sets a hoisting speed V2 lower than V1 according to the current hoisting speed V1. Each time the hoisting movement distance reaches L, the three-dimensional construction device 6 will scan the surrounding environment once, and the central processor 4 will process the results of each three-dimensional construction device 6 scan to determine the position of the hook 2 each time the three-dimensional construction device 6 scans, that is, by comparing the surrounding environment constructed by the three-dimensional construction device 6 each time with the overall construction working environment, to determine the current position. If the current position is on the path within the adjustment spacing H, the central processor 4 adjusts the hoisting speed to V2, reduces the hoisting speed in advance, improves stability, and avoids the external factors from having a greater impact on the hoisted building formwork at the moment of exiting from between the buildings.

[0104] For example, if the weight of the hoisted building formwork is between 0kg and 25kg, then the current hoisting speed V1 is 3m / min, and the hoisting speed V2 can be selected as 2m / min corresponding to the next level weight range of 25kg-50kg. The purpose is to reduce the hoisting speed in advance, improve stability, and avoid external factors from having a greater impact on the hoisted building formwork at the moment of coming out from between buildings.

[0105] Step S55 includes:

[0106] S551. Set a threshold distance s before the moving direction in the planned path changes, and the threshold distance s is greater than the unit displacement L;

[0107] S552. According to the current hoisting speed V3, set the hoisting speed V4 lower than V3;

[0108] S553. According to each scanning situation of the three-dimensional construction device 6, it is determined whether the current hoisting position is on the path within the threshold spacing s;

[0109] S554. If the current hoisting position is on a path within the threshold distance s, adjust the current hoisting speed to V4;

[0110] S555. If the current hoisting position is not on a path within the threshold distance s, maintain the current hoisting speed V3.

[0111] The threshold spacing s is larger than the unit displacement L. The purpose is to avoid directly skipping the road section with the threshold spacing s after the lifting distance moves once L.

[0112] It should be noted that during the hoisting process, if the hoisting direction changes, shaking will occur, especially when changing from vertical to horizontal. Due to the large mass and inertia of the template, it is still changed from vertical to horizontal at a relatively high speed. The tension direction of the wire rope 3 suddenly changes, which will cause the building template to shake. For this reason, a threshold spacing s is set before the moving direction in the planned path displayed on the central processor 4 is changed. At the same time, the central processor 4 sets a hoisting speed V4 lower than V3 according to the current hoisting speed V3. Each time the hoisting movement distance reaches L, the three-dimensional construction device 6 will scan the surrounding environment once, and the central processor 4 will process the results of each scan of the three-dimensional construction device 6 to determine the position of the hook 2 each time the three-dimensional construction device 6 scans. If the current position is on the path within the threshold spacing s, the central processor 4 adjusts the hoisting speed to V4, reduces the hoisting speed in advance, improves stability, avoids changing the hoisting direction at a relatively high speed, and prevents large shaking.

[0113] For example, if the weight of the hoisted construction formwork is between 25kg and 50kg, then the current hoisting speed V3 is 2m / min, and the hoisting speed V4 can be selected as 1m / min, which corresponds to the next level weight range of 50kg-75kg. The purpose is to reduce the hoisting speed in advance, improve stability, avoid changing the hoisting direction at a higher speed, and prevent large shaking.

[0114] If during the hoisting process, the building template comes out from between the buildings before the hoisting direction is changed, and the weight of the hoisted building template is between 0kg-25kg, then the current hoisting speed V1 is 3m / min, and the hoisting speed V2 can choose the hoisting speed 2m / min corresponding to the next level weight range of 25kg-50kg. Since the hoisting speed V3 before the hoisting direction is changed is equal to the hoisting speed V2, the hoisting speed V4 can choose the hoisting speed 1m / min corresponding to the next level weight range of 50kg-75kg. Vice versa, if during the hoisting process, the building template comes out from between the buildings before the hoisting direction is changed, and the weight of the hoisted building template is between 0kg-25kg, then the current hoisting speed V1 is 3m / min, and the hoisting speed V2 can choose the hoisting speed 2m / min corresponding to the next level weight range of 25kg-50kg. Change the hoisting direction and then come out from between the buildings. At this time, the weight of the hoisted building formwork is between 0kg-25kg, so the current hoisting speed V3 is 3m / min, and the hoisting speed V4 can choose the hoisting speed of 2m / min corresponding to the next level weight range of 25kg-50kg. Since the hoisting speed V1 of the building formwork between the buildings is equal to the hoisting speed V4, the hoisting speed V2 can choose the hoisting speed of 1m / min corresponding to the next level weight range of 50kg-75kg. In this way, the hoisting speed can be reduced twice, which can further improve the safety of the hoisting operation.

[0115] To sum up, in the process of the hook 2 being lowered, the present invention uses the three-dimensional construction device 6 to scan the surrounding environment of the lifting equipment 1 to construct an overall three-dimensional working environment. The central processing unit 4 intelligently plans a relatively simple route through the lifting position and the installation position, without the need for manual route selection, avoiding frequent changes in direction and invalid movements, and improving the operating efficiency of the tower crane. It can also verify the feasibility of the S52 planned path in sections through each scan of the three-dimensional construction device 6. If the currently planned section is impassable, the current path is replanned. There is no need to manually monitor changes in the surrounding environment, avoiding safety accidents such as undetectable equipment collisions, and improving safety performance.

[0116] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A template hoisting method, characterized in that: The following steps are involved: S1. Check whether the quality of the building formwork meets the requirements; S2. Use hoisting equipment to hoist the building formwork that meets the requirements; S3. Real-time detection of the weight of the building template by load detection equipment; S4. Adjust the hoisting speed of the building template according to the data feedback from the load detection equipment; S5. Build a 3D working environment based on the 3D construction equipment scan, and plan the hoisting movement path based on the hoisting position and installation position; The S5 includes: S51. During the hook descent, the 3D construction equipment scans the surroundings of the lifting equipment to construct the overall 3D working environment; S52. Select the installation location in the 3D working environment and plan the lifting path based on the lifting position and installation location; S53. During the lifting and moving process, the surrounding environment is scanned in real time by the 3D construction equipment to optimize the path; S54. During hoisting and moving, reduce the hoisting speed before approaching a work environment without buildings; S55. During the hoisting movement process, the hoisting movement stroke is monitored in real time by the three-dimensional construction equipment, and the hoisting speed is reduced before the direction of the moving path changes; The S53 includes: S531. Set the lifting unit displacement L. Each time the lifting unit moves to a distance of L, the 3D construction device will scan the surrounding environment once. S532. According to each 3D construction equipment scan, segment verification S52 planning path feasibility; S533. If the currently planned road section is passable, the current hoisting movement state is maintained. If the currently planned road section is not passable, the current path is replanned to meet the needs of hoisting movement; The S54 includes: S541. According to the building height of the overall three-dimensional working environment in S51, set an adjustment spacing H downward, and the adjustment spacing H is greater than the unit displacement L; S542. According to the current hoisting speed V1, set the hoisting speed V2 lower than V1; S543. According to each three-dimensional construction equipment scan, determine whether the current hoisting position is on the path of the adjustment spacing H; S544. If the current hoisting position is on the path within the adjustment interval H, adjust the current hoisting speed to V2; S545. If the current hoisting position is not on the path within the adjustment interval H, maintain the current hoisting speed V1.

2. The formwork hoisting method according to claim 1, characterized in that: The S4 includes: S41. Divide into different weight ranges, each weight range corresponds to a lifting speed; S42. Determine the weight range in which the load detection device's detection value is located; S43. Adjust the hoisting speed to the corresponding speed of the corresponding weight range.

3. The formwork hoisting method according to claim 2, characterized in that: In the S41, the hoisting speed decreases as the weight range increases.

4. The formwork hoisting method according to claim 3, characterized in that: The S55 includes: S551. Set a threshold distance s before the moving direction in the planned path changes, and the threshold distance s is greater than the unit displacement L; S552. According to the current hoisting speed V3, set the hoisting speed V4 lower than V3; S553. According to each three-dimensional construction equipment scan, determine whether the current hoisting position is on the path within the threshold spacing s; S554. If the current hoisting position is on a path within the threshold distance s, adjust the current hoisting speed to V4; S555. If the current hoisting position is not on a path within the threshold distance s, maintain the current hoisting speed V3.

5. A template hoisting device, characterized in that: The hoisting device is used in the template hoisting method according to any one of claims 1 to 4, and the hoisting device includes hoisting equipment, a hook, a wire rope and a central processing unit.

6. The template hoisting device according to claim 5, characterized in that: The load detection device and the three-dimensional construction device are arranged at the connection between the hook and the wire rope.

7. The template hoisting device according to claim 6, characterized in that: The load detection device can detect the weight data of the items on the hook and feed it back to the central processing unit for processing and analysis. The central processing unit can adjust the lifting speed by controlling the rotation speed of the lifting equipment. The three-dimensional construction device can scan the surrounding environment information and feed it back to the central processing unit for constructing a three-dimensional environment. The central processing unit can realize intelligent planning of the lifting path based on the three-dimensional environment.

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