Convenient telescopic tower crane horizontal arm and cooperative control method

Abstract

The invention provides a convenient telescopic tower crane horizontal arm which comprises a base, an upper flat arm rotationally connected with the base and a lower flat arm arranged below the free end of the upper flat arm, the base is used for being connected with a tower footing of a tower crane, the lower flat arm can slide in the length direction of the upper flat arm, and a lifting tool seat sliding in the length direction of the lower flat arm is arranged at the lower end of the lower flat arm; the first motor drives the upper flat arm to rotate on the base; the limiting device further comprises a second motor and a rack, the second motor is fixedly arranged on the upper flat arm, the rack is fixedly arranged on the lower flat arm, and the output end of the second motor is meshed with the rack, so that the lower flat arm slides in the length direction of the upper flat arm. When the lower horizontal arm rotates to an angle with a preset obstacle, the lower horizontal arm automatically retracts to avoid the obstacle, and the length of the horizontal arm of the tower crane can be adjusted at will, so that tedious and dangerous operation caused by arm cutting or arm adding in the air is avoided, a maximized hoisting area can be obtained, the covering radius does not need to be influenced by nearby individual obstacles, and the hoisting efficiency is improved. And the use of the truck crane platform team is obviously reduced, and the comprehensive cost can be obviously reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of tower cranes, and in particular to a convenient telescopic tower crane horizontal arm and a coordinated control method. Background Art

[0002] Traditional horizontal tower cranes all have fixed arm lengths, and their defects are as follows:

[0003] First, when lifting in a cramped area, where there are dense obstacles in adjacent buildings, or where the airspace is narrow, long, and irregular, there are lifting areas that cannot be fully covered, and there are lifting blind spots. To address the lifting blind spots, it is necessary to use the mobile crane team frequently and multiple times.

[0004] Secondly, during the foundation pit construction phase, the tower crane needs to have a longer arm length to cover the entire foundation pit area and meet the hoisting needs of basement construction. When the individual buildings are gradually built, the construction focus shifts to the part above the ground. At this time, the operating range and working conditions of the tower crane have changed, so the arm length of the tower crane needs to be cut in the air. Aerial cutting means that during the use of the tower crane, due to changes in working conditions and other reasons, the lifting arm needs to be shortened or lengthened at high altitude. The aerial cutting operation process is complicated and highly dangerous.

[0005] The common point of these two situations is that many unfinished or completed projects on the site / roof are affected by the main body of the single building, which requires the crane to be cut off. As a result, the crane is no longer within the lifting area radius, becoming a blind spot and requiring an additional crane to be used for construction. This has a significant negative impact on construction efficiency, cost, and crane utilization. Summary of the Invention

[0006] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a convenient telescopic tower crane horizontal arm to solve the problems mentioned in the above background technology section.

[0007] The present invention is achieved through the following technical solutions:

[0008] A convenient telescopic tower crane horizontal arm comprises a base, an upper horizontal arm rotatably connected to the base, and a lower horizontal arm arranged below the free end of the upper horizontal arm. The base is used to be connected to the tower base of the tower crane. The lower horizontal arm can slide along the length direction of the upper horizontal arm. The lower end of the lower horizontal arm is provided with a spreader seat that slides along the length direction of the lower horizontal arm.

[0009] It also includes a first motor, which drives the upper horizontal arm to rotate on the base;

[0010] It also includes a second motor and a rack. The second motor is fixed to the upper horizontal arm, and the rack is fixed to the lower horizontal arm. The output end of the second motor engages with the rack to make the lower horizontal arm slide along the length direction of the upper horizontal arm.

[0011] Furthermore, lower tracks are provided at both ends of the lower flat arm, and the upper flat arm is provided with an upper wheel group that matches the lower tracks; upper tracks are provided at both ends of the upper flat arm, and the lower flat arm is provided with a lower wheel group that matches the upper tracks.

[0012] Furthermore, the base is provided with a plurality of mounting holes for connecting with the tower base.

[0013] Furthermore, the lower horizontal arm is provided with a first distance sensor for detecting along its rotation direction, and a second distance sensor for detecting along its length direction. When the first distance sensor is triggered during the rotation of the upper horizontal arm, the first motor is controlled to stop working, so that the upper horizontal arm stops rotating, and then the second motor is controlled to work, so that the lower horizontal arm retracts toward the base until the first distance sensor stops triggering, the lower horizontal arm stops retracting, and the upper horizontal arm continues to rotate. During the rotation process, until the second distance sensor stops triggering, the lower horizontal arm is reset to its length before retraction.

[0014] On the other hand, the present invention provides a collaborative control method based on the above-mentioned convenient telescopic tower crane horizontal arm, the collaborative control method comprising the following steps:

[0015] S1. Build multiple bases according to the hoisting requirements of the construction site. The horizontal arm of the convenient telescopic tower crane is fixed to the base. The distance between any base and the obstacle is greater than the rotation radius of the horizontal arm when it is at the minimum retracted distance, and the distance between two adjacent bases is greater than the rotation radius of the horizontal arm when it is at the minimum retracted distance;

[0016] S2. Construct a combined curve of the limiting angle and arm length according to the position of the obstacle, and obtain the real-time angle and arm length of the horizontal arm;

[0017] S3. When the first distance sensor is triggered, determine whether the angle of the horizontal arm is within the angle-arm length combination curve. If so, determine that it is an obstacle and avoid the obstacle by retracting the horizontal arm to a preset length. Otherwise, proceed to step S4.

[0018] S4. Obtain the weight data of the cargo hoisted by each horizontal arm and the process dependency record, combine the preset urgency value evaluation rules, determine the sorted list of cargo priorities, and perform avoidance actions on the horizontal arms with lower cargo priorities.

[0019] Furthermore, in step S4, in the cargo priority ranking list, a weighted scoring algorithm is used to prioritize the cargo according to the cargo weight, process dependency, and urgency. The specific priority formula is as follows:

[0020] P=K1*W+K2*D+K3*U;

[0021] Where W represents the weight of the goods, D represents the process dependency, U represents the urgency, and K1, K2, and K3 represent the assigned weights, respectively.

[0022] Furthermore, the process dependency is scored by the following steps:

[0023] S41. Define the process dependency relationship as a directed acyclic graph, where the dependency depth of each node is the longest path length from the root node to the node;

[0024] S42. For each product, calculate the depth weight of its process dependency, then:

[0025] D = (number of unfinished dependencies × K4) × max(1-K5 × (dependency depth-1), 0);

[0026] K4 represents the dependency influence coefficient, which is used to control the score weight of a single unfinished dependency. K5 represents the attenuation step size, which is used to control the attenuation amplitude of each level of dependency depth.

[0027] The beneficial effects of the present invention are as follows: a convenient telescopic tower crane horizontal arm comprises a base, an upper horizontal arm rotatably connected to the base, and a lower horizontal arm arranged below the free end of the upper horizontal arm, the base being used to be connected to the tower base of the tower crane, the lower horizontal arm being slidable along the length direction of the upper horizontal arm, and the lower end of the lower horizontal arm being provided with a sling seat sliding along its length direction; the first motor is driven by the first motor to rotate the upper horizontal arm on the base; the second motor is fixed to the upper horizontal arm, the rack is fixed to the lower horizontal arm, and the output end of the second motor engages with the rack to make the lower horizontal arm slide along the length direction of the upper horizontal arm. Through the above structure, only a preset limit angle-arm length combination curve is required. When the lower horizontal arm is turned to an angle with a preset obstacle, it will automatically retract the arm to avoid the obstacle. The tower crane horizontal arm can adjust its length at will, thereby avoiding the tedious and dangerous operations caused by cutting or adding the arm in the air, and can obtain a maximized lifting area without affecting the coverage radius due to individual obstacles nearby, significantly reducing the use of mobile crane platforms, and significantly reducing the overall cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a three-dimensional diagram of the convenient telescopic horizontal arm of the tower crane of the present invention.

[0029] Figure 2 Another perspective view of the convenient telescopic horizontal arm of the tower crane of the present invention.

[0030] Figure 3 This is a schematic diagram of the positions of the horizontal arm of the convenient telescopic tower crane and obstacles in the present invention.

[0031] Figure 4 The figure is a flow chart of the collaborative control method for the convenient telescopic tower crane horizontal arm of the present invention.

[0032] The above drawings include the following reference numerals:

[0033] 1. Base; 11. Mounting hole; 2. Upper horizontal arm; 3. Lower horizontal arm; 4. Spreader seat; 5. First motor; 51. Gear; 6. Second motor; 61. Turbine; 7. Rack; 8. Upper wheel assembly; 9. Lower wheel assembly. DETAILED DESCRIPTION

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. It should be noted that the description of these embodiments is intended to help understand the present invention, but does not constitute a limitation of the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0035] Reference Figures 1 to 3 As shown, a convenient telescopic tower crane horizontal arm comprises a base 1, an upper horizontal arm 2 rotatably connected to the base 1, and a lower horizontal arm 3 provided below the free end of the upper horizontal arm 2. The base 1 is used to connect to the tower base of the tower crane. The lower horizontal arm 3 can slide along the length direction of the upper horizontal arm 2. The lower end of the lower horizontal arm 3 is provided with a spreader seat 4 that slides along the length direction thereof.

[0036] It also includes a first motor 5, which drives the upper horizontal arm 2 to rotate on the base 1;

[0037] It also includes a second motor 6 and a rack 7. The second motor 6 is fixed to the upper horizontal arm 2, and the rack 7 is fixed to the lower horizontal arm 3. The output end of the second motor 6 engages with the rack 7 to make the lower horizontal arm 3 slide along the length direction of the upper horizontal arm 2.

[0038] Through the above structure, only the preset limit angle-arm length combination curve is required. When the lower horizontal arm 3 is turned to the angle with the preset obstacle, the arm will automatically retract to avoid the obstacle. The horizontal arm of the tower crane can be adjusted in length at will, thereby avoiding the tedious and dangerous operations caused by cutting or adding arms in the air, and can obtain a maximized lifting area. There is no need to affect the coverage radius due to individual obstacles nearby, which significantly reduces the use of mobile cranes and reduces the overall cost. The present invention is particularly suitable for projects with small airspace or densely populated buildings, and can minimize the impact of excessively fast local single-building processes on the tower crane coverage area.

[0039] Specifically, a gear 51 is provided at the output end of the first motor 5, which drives the upper horizontal arm 2 to rotate on the base 1 through the engagement of the gear 51. A turbine 61 is provided at the output end of the second motor 6, and the turbine 61 engages with the rack 7, so that the lower horizontal arm 3 slides along the length direction of the upper horizontal arm 2, thereby realizing the convenient extension and retraction of the horizontal arm of the tower crane of the present invention.

[0040] In order to ensure the stability of the lower flat arm 3 sliding along the length direction of the upper flat arm 2, lower rails are provided at both ends of the lower flat arm 3, and the upper flat arm 2 is provided with an upper wheel group 8 that cooperates with the lower rails; upper rails are provided at both ends of the upper flat arm 2, and the lower flat arm 3 is provided with a lower wheel group 9 that cooperates with the upper rails.

[0041] Specifically, the two lower horizontal arms 3 are symmetrically arranged below the free ends of the upper horizontal arm 2, centered around the base 1. This makes the overall structure of the telescopic tower crane's horizontal arm more balanced, enhancing its stability and roll resistance. Adjusting to the appropriate lifting position requires only a half-turn, significantly shortening equipment adjustment time and reducing unnecessary idling. This improves the pace of lifting operations, enabling more lifting tasks to be completed per unit time and improving overall work efficiency.

[0042] The base 1 is provided with a plurality of mounting holes 11 for connecting with the tower base. The mounting holes 11 ensure that the horizontal arm of the telescopic tower crane of the present invention is accurately docked with the tower base.

[0043] To facilitate assembly and disassembly of the telescopic tower crane's horizontal arm, the upper wheel assembly 8 is removably connected to the upper horizontal arm 2 via lateral bolts, while the lower wheel assembly 9 is also removably connected to the lower horizontal arm 3 via lateral bolts. During assembly, the lower horizontal arm 3 is first connected to the base 1, then the rack 7 on the lower horizontal arm 3 is aligned with the turbine 61, and then secured using the laterally mounted upper and lower wheel assemblies 8 and 9.

[0044] Reference Figure 3 As shown, the dark yellow area is the hoisting area where the telescopic tower crane's horizontal arm is at the minimum rotation radius, the light yellow area is the hoisting area where the telescopic tower crane's horizontal arm is at the longest rotation radius, and the gray area is an obstacle. Figure 3The lower part of the tower crane can cover the lifting area in all directions while avoiding obstacles through the two telescopic horizontal arms of the present invention. It only needs to preset the limit angle-arm length combination curve. The lower horizontal arm 3 will automatically retract the arm to avoid the obstacle when it turns to the angle with the preset obstacle. The horizontal arm of the tower crane can adjust the length at will, thereby avoiding the tedious and dangerous operations caused by cutting or adding arms in the air, and can obtain the maximized lifting area. There is no need to affect the coverage radius because of individual obstacles nearby, which significantly reduces the use of car cranes and the overall cost can be significantly reduced.

[0045] As a preferred embodiment, the lower horizontal arm 3 is provided with a first distance sensor for detecting along its rotation direction, and a second distance sensor for detecting along its length direction. When the first distance sensor is triggered during the rotation of the upper horizontal arm 2, the first motor 5 is controlled to stop working, so that the upper horizontal arm 2 stops rotating, and then the second motor 6 is controlled to work, so that the lower horizontal arm 3 is retracted toward the base 1 until the first distance sensor stops triggering, the lower horizontal arm 3 stops retracting, and the upper horizontal arm 2 continues to rotate during the rotation process until the second distance sensor stops triggering, and then the lower horizontal arm 3 is reset to its pre-retraction length. Through the above structure, the tower crane can be flexibly adjusted during operation, reducing equipment damage and maintenance costs caused by collisions, improving work efficiency, and ensuring construction progress and site safety. At the same time, the structure is reasonably designed, simple to operate, easy to implement, and has good application prospects.

[0046] On the other hand, refer to Figure 4 As shown, the present invention provides a collaborative control method based on the above-mentioned convenient telescopic tower crane horizontal arm, and the collaborative control method includes the following steps:

[0047] S1. Build multiple bases according to the hoisting requirements of the construction site. The horizontal arm of the convenient telescopic tower crane is fixed to the base. The distance between any base and the obstacle is greater than the rotation radius of the horizontal arm when it is at the minimum retracted distance, and the distance between two adjacent bases is greater than the rotation radius of the horizontal arm when it is at the minimum retracted distance;

[0048] S2. Constructing a combined curve of position-limiting angle and arm length according to the position of the obstacle, and obtaining the real-time angle and arm length of the horizontal arm, wherein the real-time angle and arm length of the horizontal arm can be precisely controlled and monitored by the stepping signals of the first motor 5 and the second motor 6;

[0049] S3. When the first distance sensor is triggered, determine whether the angle of the horizontal arm is within the angle-arm length combination curve. If so, determine that it is an obstacle and avoid the obstacle by retracting the horizontal arm to a preset length. Otherwise, proceed to step S4.

[0050] S4. Obtain the weight data of the cargo hoisted by each horizontal arm and the process dependency record, combine the preset urgency value evaluation rules, determine the sorted list of cargo priorities, and perform avoidance actions on the horizontal arms with lower cargo priorities.

[0051] Furthermore, in step S4, in the cargo priority ranking list, a weighted scoring algorithm is used to prioritize the cargo according to the cargo weight, process dependency, and urgency. The specific priority formula is as follows:

[0052] P=K1*W+K2*D+K3*U;

[0053] Where W represents the weight of the goods, D represents the process dependency, U represents the urgency, and K1, K2, and K3 represent the assigned weights, respectively.

[0054] Furthermore, the process dependency is scored by the following steps:

[0055] S41. Define the process dependency relationship as a directed acyclic graph, where the dependency depth of each node is the longest path length from the root node to the node;

[0056] S42. For each product, calculate the depth weight of its process dependency, then:

[0057] D = (number of unfinished dependencies × K4) × max(1-K5 × (dependency depth-1), 0);

[0058] K4 represents the dependency influence coefficient, which is used to control the score weight of a single unfinished dependency. K5 represents the attenuation step size, which is used to control the attenuation amplitude of each level of dependency depth.

[0059] For example, in a directed acyclic graph, foundation engineering is labeled A, structural engineering is labeled B, wall engineering is labeled C, wall cladding is labeled D, and decorative engineering is labeled E. Structural engineering must be completed after foundation engineering to ensure a stable foundation. Wall engineering must be constructed based on structural engineering. Wall cladding must be constructed after wall engineering is completed. Decorative engineering must be completed after wall cladding.

[0060] Then the directed acyclic graph is: A→B→C→D→E.

[0061] Examples of materials required for each node are as follows:

[0062] Foundation Engineering (A): Required materials include steel bars, cement, sand and gravel, concrete admixtures, etc.

[0063] Structural Engineering (B): Required materials include steel bars, cement, formwork, scaffolding, etc.

[0064] Wall Engineering (C): The required materials include bricks, cement, sand, steel bars, etc.

[0065] Wall engineering (D): Required materials include prefabricated wall panels, water pipes, electrical wires, etc.

[0066] Decoration project (E): The required materials include floor materials: such as wooden floors, tiles, carpets, etc., doors and windows, lamps and lanterns, and sanitary ware.

[0067] For example, one of the horizontal arms is hoisting cargoes, which are prefabricated wall panels in a wall project, weighing 5 tons and having an urgency level of 60. There are still two materials in the wall project that have not been hoisted.

[0068] The cargo hoisted by the other horizontal arm is cement for the wall project, weighing 3 tons and with an urgency level of 80. There is still one material in the wall project that has not been hoisted.

[0069] Wall Project (C): The longest path length from the root node (foundation project A) to wall project C is 2.

[0070] Wall Project (D): The longest path length from the root node (foundation project A) to wall project D is 3.

[0071] For the cement in the wall project, since there is still a material that has not been hoisted in the wall project, it means that the wall project has not been completed. However, the cement itself is in the wall project and its predecessor processes (structural engineering, etc.) have been completed, so its unfinished dependency count is 0.

[0072] For the prefabricated wall panels in the wall surface project, since the wall surface project depends on the wall body project, and there are still two materials in the wall body project that have not been hoisted, that is, the wall body project is not completed, so its unfinished dependency number is 1.

[0073] In the process dependency formula, D = (number of unfinished dependencies × K4) × max(1-K5 × (dependency depth - 1), 0), let: K4 = 0.8, K5 = 0.2;

[0074] Then D 水泥 =(0×0.8)×max(1-0.2×(2-1),0)=0;

[0075] Then D 预制墙板 =(1×0.8)×max(1-0.2×(3-1),0)=0.48;

[0076] In the priority formula, P = K1*W + K2*D + K3*U, assuming: K1 = 0.3, K2 = 0.4, K3 = 0.3; the urgency is related to the remaining time of the project;

[0077] P 水泥=0.3×3+0.4×0+0.3×80=3+0.32+21=24.9;

[0078] P 预制墙板 =0.3×5+0.4×0.48+0.3×60=1.5+0+27=19.692.

[0079] Conclusion: Cement takes priority over precast wall panels. Therefore, the horizontal arm holding the precast wall panels should avoid the problem and wait until the cement is hoisted before proceeding with the precast wall panels.

[0080] By designing a priority formula, this decision-making process fully considers the weight of the goods, process dependencies and urgency, ensuring construction efficiency and safety.

[0081] In summary, the beneficial effects of the present invention are:

[0082] First, it improves construction efficiency. Using a priority formula, high-priority goods can be accurately identified, ensuring that critical construction materials are in place on time, ensuring the smooth progress of the construction process, and reducing downtime caused by untimely material supply.

[0083] Secondly, it also helps control the progress of the project. The construction party can effectively plan the lifting order of different goods according to the priority formula, ensuring that the project proceeds according to the planned schedule and avoiding delays caused by unreasonable lifting sequence.

[0084] Perform an avoidance action on the horizontal arm with lower priority goods. Specifically, the avoidance action includes: the horizontal arm stops rotating, and through coordinate matching retrieval, it is determined that the object triggering the first distance sensor is an adjacent horizontal arm, and the horizontal arm with lower priority is controlled to retract until the first distance sensor stops triggering, and then the horizontal arm is controlled to continue rotating. During the rotation process, until the second distance sensor stops triggering, the horizontal arm is reset to the length before retraction to complete the avoidance action.

[0085] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying 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 should not be understood as limiting the present invention.

[0086] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include one or more of the features.

[0087] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A convenient telescopic tower crane horizontal arm, characterized by: The tower crane comprises a base, an upper horizontal arm rotatably connected to the base, and a lower horizontal arm provided below the free end of the upper horizontal arm. The base is used to be connected to the tower base of the tower crane. The lower horizontal arm can slide along the length direction of the upper horizontal arm. The lower end of the lower horizontal arm is provided with a spreader seat that slides along the length direction thereof. It also includes a first motor, which drives the upper horizontal arm to rotate on the base; It also includes a second motor and a rack. The second motor is fixed to the upper horizontal arm, and the rack is fixed to the lower horizontal arm. The output end of the second motor engages with the rack to make the lower horizontal arm slide along the length direction of the upper horizontal arm.

2. The convenient telescopic tower crane horizontal arm according to claim 1, characterized in that: The two ends of the lower flat arm are provided with lower tracks, and the upper flat arm is provided with an upper wheel group that matches the lower tracks; the two ends of the upper flat arm are provided with upper tracks, and the lower flat arm is provided with a lower wheel group that matches the upper tracks.

3. The convenient telescopic tower crane horizontal arm according to claim 2, characterized in that: The base is provided with a plurality of mounting holes for connecting with the tower base.

4. The convenient telescopic tower crane horizontal arm according to claim 1, characterized in that: The lower horizontal arm is provided with a first distance sensor for detecting along its rotation direction, and a second distance sensor for detecting along its length direction. When the first distance sensor is triggered during the rotation of the upper horizontal arm, the first motor is controlled to stop working, so that the upper horizontal arm stops rotating, and then the second motor is controlled to work, so that the lower horizontal arm retracts toward the base until the first distance sensor stops triggering. The lower horizontal arm stops retracting and the upper horizontal arm continues to rotate. During the rotation process, until the second distance sensor stops triggering, the lower horizontal arm is reset to its length before retraction.

5. The collaborative control method for the convenient telescopic tower crane horizontal arm according to claim 4 is characterized in that: The collaborative control method comprises the following steps: S1. Build multiple bases according to the hoisting requirements of the construction site. The horizontal arm of the convenient telescopic tower crane is fixed to the base. The distance between any base and the obstacle is greater than the rotation radius of the horizontal arm when it is at the minimum retracted distance, and the distance between two adjacent bases is greater than the rotation radius of the horizontal arm when it is at the minimum retracted distance; S2. Construct a combined curve of the limiting angle and arm length according to the position of the obstacle, and obtain the real-time angle and arm length of the horizontal arm; S3. When the first distance sensor is triggered, determine whether the angle of the horizontal arm is within the angle-arm length combination curve. If so, determine that it is an obstacle and avoid the obstacle by retracting the horizontal arm to a preset length. Otherwise, proceed to step S4. S4. Obtain the weight data of the cargo hoisted by each horizontal arm and the process dependency record, combine the preset urgency value evaluation rules, determine the sorted list of cargo priorities, and perform avoidance actions on the horizontal arms with lower cargo priorities.

6. The collaborative control method for the convenient telescopic tower crane horizontal arm according to claim 5 is characterized in that: In step S4, in the cargo priority ranking list, a weighted scoring algorithm is used to prioritize the cargo based on the cargo weight, process dependency, and urgency. The specific priority formula is as follows: P=K1*W+K2*D+K3*U; Where W represents the weight of the goods, D represents the process dependency, U represents the urgency, and K1, K2, and K3 represent the assigned weights, respectively.

7. The coordinated control method for the convenient telescopic tower crane horizontal arm according to claim 6 is characterized in that: The process dependency is scored by the following steps: S41. Define the process dependency relationship as a directed acyclic graph, where the dependency depth of each node is the longest path length from the root node to the node; S42. For each product, calculate the depth weight of its process dependency, then: D = (number of unfinished dependencies × K4) × max(1-K5 × (dependency depth-1), 0); K4 represents the dependency influence coefficient, which is used to control the score weight of a single unfinished dependency. K5 represents the attenuation step size, which is used to control the attenuation amplitude of each level of dependency depth.

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