Double-gantry crane collaborative beam lifting automation control system

Abstract

The application discloses a double-gantry-crane cooperative beam-lifting automatic control system, which is used for controlling two gantry cranes to cooperatively perform beam-lifting operation, and comprises a central control system arranged at a ground control end, an airborne control system and an airborne operation state data acquisition system arranged at each gantry crane end, an environment data acquisition system arranged at a construction site, and a data communication system for realizing data communication of the central control system, the airborne control system, the airborne operation state data acquisition system and the environment data acquisition system. The application can realize cooperative operation control of the two gantry cranes, realizes multi-sensor fusion data acquisition and data interaction, guarantees operation synchronism and coordination, greatly improves operation efficiency, and has multiple safety warning functions, effectively guaranteeing construction operation safety.

Description

Technical Field

[0001] This invention relates to the field of highway bridge construction equipment technology, and more specifically to an automated control system for coordinated beam lifting by a double gantry crane. Background Technology

[0002] A beam lifting machine is a heavy-duty lifting device specifically designed for hoisting and moving large precast concrete beams (especially box girders and T-beams in bridge construction). It is mainly used in the construction of highway bridges, particularly when a construction method is adopted where beams are precast in a precast yard and then transported to the bridge site for erection.

[0003] As the scale and difficulty of engineering construction increase, bridge engineering is showing a clear trend towards higher piers, wider spans, longer spans, and more multi-story structures. When using gantry cranes to erect and lift precast beams for long-span bridges, one gantry crane is no longer sufficient to meet the on-site construction requirements, and two or even more gantry cranes are needed for erection and beam lifting operations.

[0004] The operation of traditional double-gantry cranes has the following problems:

[0005] 1. Relying on manual operation via walkie-talkie results in low synchronization accuracy and can easily lead to uneven stress on the beam.

[0006] 2. Lack of real-time dynamic monitoring leads to high spatial obstacle avoidance risks and makes it difficult to detect safety hazards in a timely manner;

[0007] 3. Due to the influence of the equipment itself, it is difficult for the operating parameters of the two gantry cranes to be completely consistent.

[0008] Therefore, developing an automated control system for the coordinated lifting of beams by dual gantry cranes is of great engineering value and urgent practical need to solve the prominent problems of poor synchronization, coordination difficulties, low efficiency, and high safety risks in the traditional operation methods. This is crucial for ensuring the safety of lifting and transporting precast beams for long-span bridges, improving construction efficiency, guaranteeing project quality, and reducing project risks. Summary of the Invention

[0009] To address the shortcomings of the aforementioned technical solutions, the present invention aims to provide an automated control system for the coordinated beam lifting of a double gantry crane.

[0010] The objective of this invention is achieved through the following technical solution.

[0011] An automated control system for coordinated beam lifting by two gantry cranes is disclosed. The system is used to control two gantry cranes to perform coordinated beam lifting operations. The system includes a central control system set at the ground control end, an onboard control system and an onboard operation status data acquisition system set at each gantry crane end, and an environmental data acquisition system set at the construction site.

[0012] The airborne control system includes a first PLC system, which is used to control the actions of actuators such as the gantry crane, overhead crane, and winch according to control commands.

[0013] The airborne operation status data acquisition system includes a second PLC system, an industrial computer system, and data acquisition systems for the movement trajectories of the trolley, overhead crane, and hook, as well as data acquisition systems for hook load, hook swing, distance between the hook and the beam it is lifting, and gantry crane movement status feedback.

[0014] The trolley, overhead crane, and hook motion trajectory data acquisition system is connected to the industrial computer system. The hook load data acquisition system, hook swing data acquisition system, hook distance data acquisition system, and gantry crane motion status feedback data acquisition system are all connected to the second PLC system, which collects data from the above-mentioned data acquisition systems. Furthermore, the second PLC system and the first PLC system are interconnected and connected to the industrial computer system and then to a switch. The switch connects the system to the central control system at the ground control terminal.

[0015] The environmental data acquisition system includes an anti-collision data acquisition system and a video monitoring system, which are connected to the central control system of the ground control terminal via a switch;

[0016] The central control system at the ground control terminal includes a third PLC system, a data processing server, a control console, and a visual virtual machine terminal. The third PLC system is connected to the control console to input control commands. The third PLC system is connected to a switch to issue control commands to the gantry cranes. The third PLC system is connected to the data processing server, enabling the data processing server to receive the coordinated control commands from the third PLC system for the two gantry cranes, so as to run the corresponding coordinated control algorithm. The data processing server is connected to the switch to receive anti-collision data and video monitoring data sent by the environmental data acquisition system, as well as real-time absolute position data of the trolley, overhead crane, and hook, absolute position data of both ends of the beam, hook load data, and hook swing data sent by the onboard operation status data acquisition system. The data processing server then runs virtual machine software based on the above data and displays the real-time virtual operation scene through the visual virtual machine terminal.

[0017] In the above technical solution, the data acquisition system for the motion trajectory of the gantry crane, overhead crane, and hook is implemented through the RTK-GNSS Beidou positioning system; the real-time absolute position data of the gantry crane, overhead crane, and hook are calculated by the industrial computer system based on the data collected by the RTK-GNSS Beidou positioning system.

[0018] In the above technical solution, the hook load data acquisition system is a six-dimensional force sensor installed at the hook position to collect the load distribution status data of the hook in real time.

[0019] In the above technical solution, the hook swing data acquisition system is equipped with an angle sensor at the hook position to detect hook swing data, i.e., real-time angle data of the wire rope.

[0020] In the above technical solution, the distance data acquisition system between the hook and the beam it is hoisting is to install a laser rangefinder at the hook position to detect the distance between the hook and the beam it is hoisting below. Then, by subtracting this distance from the hook's own height position, the current height position of the beam hoisted by the hook can be obtained.

[0021] In the above technical solution, the gantry crane motion status feedback data acquisition system is used to collect the travel feedback data of the trolley and overhead crane, as well as the hook height feedback data. The travel feedback data of the trolley and overhead crane is provided by the encoders of the travel motors of the trolley and overhead crane, and the hook height feedback data is provided by the operating data of the winch on the overhead crane.

[0022] In the above technical solution, the second PLC system transmits the collected data to the industrial computer system in real time. The industrial computer system verifies and corrects the real-time absolute position data of the trolley, overhead crane and hook based on the collected gantry crane motion status feedback data, and obtains the corrected real-time absolute position data of the trolley, overhead crane and hook. Furthermore, based on the distance data between the hook and the beam it is lifting, the absolute position data of both ends of the beam can be calculated.

[0023] In the above technical solution, the anti-collision data acquisition system involves installing millimeter-wave radar and ultrasonic proximity switches on existing structures at the construction site. The distance between the beam and the existing structures is monitored by the millimeter-wave radar and ultrasonic proximity switches, and the risk of collision is determined based on the real-time distance monitored.

[0024] In the above technical solution, the video surveillance system involves installing multiple cameras on the gantry crane and at the construction site to collect environmental video data during the operation. The video surveillance system is connected to the central control system on the ground control terminal via a video server connected to a switch.

[0025] In the above technical solution, the position status of the two gantry cranes and the position status of the beam they are hoisting are displayed in real time in the virtual operation scene, as well as the hook load data and hook swing data, to determine whether there is overload or excessive beam swing. If the hook load or beam swing is too large, a warning will be issued or an emergency stop command will be automatically sent to the onboard control system of the gantry crane.

[0026] In the above technical solution, when the third PLC system issues a control command for the collaborative control mode to the data processing server, the data processing server enters the collaborative control mode. In this mode, the data processing server generates corresponding collaborative control commands based on the further control task commands from the third PLC system, and issues them to the corresponding gantry cranes through the switch to achieve collaborative control of the two gantry cranes. Furthermore, during the collaborative control process, the data processing server adjusts the collaborative control commands in real time based on the real-time data from the onboard operation status data acquisition system of the two gantry cranes, achieving closed-loop fine-tuning and ensuring the accuracy of collaborative control.

[0027] When the data processing server receives the instruction for individual control mode issued by the third PLC system, it exits the collaborative control mode and then selects to control the first gantry crane or the second gantry crane individually via the control panel. The control panel then controls the selected first or second gantry crane to execute the corresponding instruction. In individual control mode, the control instructions generated by the control handle are sent by the third PLC system to the industrial computer system of the corresponding gantry crane through the switch. The industrial computer system runs the PID control algorithm to generate control instructions, which are sent to the first PLC system via the bus to control the corresponding gantry crane to perform actions.

[0028] In the above technical solution, the control panel is equipped with operating components such as mode selection buttons, task function buttons, control handles, and emergency stop buttons; the control panel issues a command to the third PLC system to enter a separate control mode, and then the third PLC system sends the command to the data processing server.

[0029] The advantages and beneficial effects of this invention are as follows:

[0030] This invention achieves a closed-loop safety protection system for the entire process of beam hoisting, enabling overload warning, collision warning, excessive sway warning, and video monitoring warning, effectively ensuring the safety of construction operations.

[0031] This invention achieves multi-sensor fusion data acquisition and data interaction, enabling real-time monitoring of the motion trajectory data of the trolley, overhead crane, and hook of two gantry cranes, hook load data, hook swing data, distance data between the hook and the beam it is lifting, and gantry crane motion status feedback data. Specifically, the second PLC system on the machine-mounted terminal acquires data from the aforementioned sensor data acquisition systems. An industrial computer system calculates the real-time absolute position data of the gantry crane's trolley, overhead crane, and hook based on the data acquired by the RTK-GNSS Beidou positioning system. Furthermore, the second PLC system transmits the acquired data to the industrial computer system in real-time. The industrial computer system verifies and corrects the real-time absolute position data of the trolley, overhead crane, and hook based on the acquired gantry crane motion status feedback data, thus obtaining the corrected real-time absolute position data of the trolley, overhead crane, and hook. Finally, based on the distance data between the hook and the beam it is lifting, the absolute position data of both ends of the beam can be calculated.

[0032] This invention establishes a central control system in a non-construction ground area. This central control system interacts with the respective recording control systems and data acquisition systems of the two gantry cranes via a switch. The central control system includes a third PLC system, a data processing server, a control console, and a visual virtual machine terminal. The third PLC system connects to the control console to input control commands; it also connects to the switch to issue control commands to the gantry cranes; the data processing server receives the coordinated control commands from the third PLC system for the two gantry cranes and executes the corresponding coordinated control algorithm; the data processing server connects to the switch to receive collision avoidance data and video monitoring data from the environmental data acquisition system, as well as data from the onboard operation status data acquisition system regarding the trolley and crane. The system collects real-time absolute position data of the crane and hook, absolute position data of both ends of the beam, hook load data, and hook swing data. The data processing server then runs virtual machine software based on this data and displays a real-time virtual operation scene through a visual virtual machine terminal. In this virtual operation scene, the position status of the two gantry cranes and the position status of the beam they are lifting can be displayed in real time, as well as hook load data and hook swing data. This is used to determine whether there is overload or excessive beam swing. If the hook load or beam swing is too large, a warning will be issued or an emergency stop command will be automatically sent to the gantry crane's onboard control system.

[0033] This invention can realize both collaborative control mode and individual control mode for two gantry cranes:

[0034] ① When the third PLC system issues a control command for the collaborative control mode to the data processing server, the data processing server enters the collaborative control mode. In this mode, the data processing server generates corresponding collaborative control commands based on the further control task commands from the third PLC system, and issues them to the corresponding gantry cranes through the switch to achieve collaborative control of the two gantry cranes. Furthermore, during the collaborative control process, the data processing server adjusts the collaborative control commands in real time based on the real-time data from the onboard operation status data acquisition system of the two gantry cranes, achieving closed-loop fine-tuning and ensuring the accuracy of collaborative control.

[0035] ② After the data processing server receives the instruction for individual control mode from the third PLC system, it exits the collaborative control mode and then selects to control either the first or second gantry crane individually via the control panel. The selected gantry crane then executes the corresponding instruction. In individual control mode, the control instructions generated by the control handle are sent by the third PLC system to the corresponding gantry crane's industrial computer system via a switch. The industrial computer system runs a PID control algorithm, generates control instructions, and sends them to the first PLC system via the bus to control the corresponding gantry crane to perform actions. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of a construction operation scenario where two gantry cranes work together to lift a beam.

[0037] Figure 2 This is a structural diagram of a high-low leg gantry crane.

[0038] Figure 3 This is a schematic diagram of the automated control system for the collaborative beam lifting of a double gantry crane according to the present invention. Detailed Implementation

[0039] The technical solution of the present invention will be further described below with reference to specific embodiments.

[0040] This invention designs an automated control system for coordinated beam lifting by two gantry cranes. This system controls two gantry cranes to perform coordinated beam lifting operations while ensuring operational safety. (See appendix) Figure 1 This is a schematic diagram of a construction operation scenario where two gantry cranes work together to lift a beam. For example, two high-low leg gantry cranes work together; see attached diagram. Figure 2This high-low leg gantry crane has high legs 2 and low legs 3 at both ends of its main beam 1. The bottom of the high legs is supported on the ground rails at the construction site, while the bottom of the low legs is supported on the box girder of the upper bridge (which also has rails laid on it). A crane 5 is installed on the main beam 1, and a winch is mounted on the crane for lifting the beam and lateral movement ("lateral" refers to the direction along the main beam 1, i.e., along the width of the bridge). A traveling mechanism 4, called a trolley, is installed at the bottom of the gantry crane legs for longitudinal movement ("longitudinal" refers to the direction along the length of the bridge). This high-low leg support method greatly reduces the material used for the low legs, saving material costs and reducing the weight of the legs. Furthermore, since the low legs are erected on the bridge, the main beam span of the gantry crane is effectively reduced compared to traditional gantry cranes with equal-height legs. Therefore, this high-low leg support structure is more stable and safer. Moreover, compared to traditional gantry cranes with equal-height legs, it eliminates the need for soft soil foundation treatment on one side of the legs.

[0041] See appendix Figure 3 The automated control system for coordinated beam lifting of dual gantry cranes of the present invention includes a central control system installed at the ground control end, an onboard control system and an onboard operation status data acquisition system installed at each gantry crane end (i.e., each gantry crane is equipped with an onboard control system and an onboard operation status data acquisition system), and an environmental data acquisition system installed at the construction site.

[0042] The airborne control system includes a first PLC system, which is used to control the actuators of the gantry crane, such as the trolley, overhead crane, and winch, according to control commands.

[0043] The airborne operation status data acquisition system includes a second PLC system, an industrial computer system, and data acquisition systems for the movement trajectories of the trolley, overhead crane, and hook, as well as data acquisition systems for hook load, hook swing, distance between the hook and the beam it is lifting, and gantry crane movement status feedback.

[0044] The data acquisition system for the movement trajectories of the gantry crane, overhead crane, and hook is implemented using an RTK-GNSS BeiDou positioning system. Specifically, the RTK-GNSS BeiDou positioning system includes a GNSS reference station, rover stations, receiving antennas, and a data acquisition box. The GNSS reference station and data acquisition box are fixedly installed on the ground in a non-construction area. The GNSS reference station serves as the accuracy source and reference standard for the entire RTK system. Rover stations are installed on the gantry crane's trolley, overhead crane, and hook. Each rover station is connected to an independent antenna, outputting the antenna's absolute position information to obtain the real-time absolute position information of the gantry crane, overhead crane, and hook. The data acquisition system for the movement trajectories of the gantry crane, overhead crane, and hook is connected to an industrial computer system. The industrial computer system calculates the real-time absolute position data of the gantry crane's trolley, overhead crane, and hook based on the data acquired by the RTK-GNSS BeiDou positioning system.

[0045] The hook load data acquisition system consists of a six-dimensional force sensor (range 200 tons, accuracy ±0.1%FS) installed at the hook position to collect real-time load distribution data of the hook.

[0046] The hook swing data acquisition system has an angle sensor (accuracy ±0.1°) installed at the hook position to detect hook swing data, i.e., real-time angle data of the wire rope.

[0047] The distance data acquisition system between the hook and the beam it is hoisting consists of a laser rangefinder (accuracy ±1mm) installed at the hook position to detect the distance between the hook and the beam it is hoisting below. The current height of the beam hoisted by the hook can be determined by subtracting this distance from the hook's own height position.

[0048] The gantry crane motion status feedback data acquisition system is used to collect travel feedback data of the trolley and overhead crane, as well as hook height feedback data. The travel feedback data of the trolley and overhead crane is provided by the encoders of the travel motors of the trolley and overhead crane, and the hook height feedback data is provided by the operating data of the winch on the overhead crane.

[0049] The hook load data acquisition system, hook swing data acquisition system, hook distance data acquisition system, and gantry crane motion status feedback data acquisition system are all connected to the second PLC system, which collects data from each of these systems. Furthermore, the second PLC system is interconnected with the first PLC system of the onboard control system, enabling data communication between them. The second PLC system is also connected to an industrial computer system, transmitting the collected data to the industrial computer system in real time. The industrial computer system then verifies and corrects the real-time status of the gantry crane, overhead crane, and hook based on the collected motion status feedback data. The system obtains the corrected real-time absolute position data of the trolley, overhead crane, and hook based on the position data. Furthermore, it calculates the absolute position data of both ends of the beam based on the distance between the hook and the beam it is lifting (the beam is positioned directly below the hook; the distance between the lifting point on the beam and the beam end is known and fixed, preferably 2 meters from the beam end; a line segment is formed between the hooks of the two gantry cranes; each end of this line segment is extended outwards by 2 meters, and then the distance between the hook and the beam is moved downwards along the Z-axis to obtain the absolute position data of both ends of the beam). The industrial computer system is connected to a switch, enabling communication with the central control system at the ground control terminal.

[0050] The environmental data acquisition system includes a collision avoidance data acquisition system and a video surveillance system.

[0051] The collision avoidance data acquisition system involves installing millimeter-wave radar and ultrasonic proximity switches on existing structures at the construction site (e.g., bridge piers, box girders, gantry crane outriggers, etc., where collisions with the beams are possible). These sensors monitor the distance between the beams and existing structures, and the system determines the risk of collision based on the real-time distance readings. All sensors in the collision avoidance data acquisition system are connected to the central control system on the ground via wireless access points (APs) and switches.

[0052] A video surveillance system consists of multiple cameras installed on the gantry crane and at the construction site to collect environmental video data during operations. The system connects to the central control system on the ground via a video server and a switch. More specifically, a video surveillance system includes at least the following three parts:

[0053] ① Video surveillance of the operating area: Two cameras are installed on each beam lifting machine to monitor the environmental conditions of the operating area of ​​the beam lifting machine;

[0054] ② Video monitoring of the lifting point area: Two cameras are installed on each beam lifting machine to monitor the environmental conditions of the lifting point area;

[0055] ③ Area personnel intrusion monitoring: Each lifting machine is equipped with 2 AI cameras, and a voice alert is given if personnel enter the designated area.

[0056] The central control system at the ground control terminal includes a third PLC system, a data processing server, a control console, and a visual virtual machine terminal (VPC). The third PLC system is connected to the control console to input control commands; the third PLC system is connected to a switch to issue control commands to the gantry cranes; the third PLC system is connected to the data processing server, enabling the data processing server to receive the coordinated control commands from the third PLC system for the two gantry cranes, so as to run the corresponding coordinated control algorithm; the data processing server is connected to the switch to receive collision avoidance data and video monitoring data sent by the environmental data acquisition system, as well as the real-time absolute positions of the trolley, overhead crane, and hook sent by the onboard operation status data acquisition system. The system collects data on the position of the gantry cranes, the absolute position data of both ends of the beam, the hook load data, and the hook swing data. The data processing server then runs virtual machine software based on this data and displays a real-time virtual operation scene through a visual virtual machine terminal (VPC) (i.e., the visual virtual machine terminal is connected to the data processing server). In this virtual operation scene, the position status of the two gantry cranes and the position status of the beam they are lifting can be displayed in real time, as well as the hook load data and hook swing data. This is used to determine whether there is an overload or excessive beam swing. If the hook load or beam swing is too large, a warning will be issued, or an emergency stop command will be automatically sent to the gantry crane's onboard control system (sent via a switch).

[0057] When the third PLC system issues a control command for the collaborative control mode to the data processing server, the data processing server enters the collaborative control mode. In this mode, the data processing server generates corresponding collaborative control commands based on further control task commands from the third PLC system (e.g., synchronous movement, collaborative beam lifting movement along a set trajectory, etc.), and issues these commands to the corresponding gantry cranes via the switch, achieving collaborative control of the two gantry cranes. During the collaborative control process, the data processing server adjusts the collaborative control commands in real time (using a PID dynamic control algorithm) based on real-time data (i.e., feedback data) sent from the onboard operating status data acquisition system of the two gantry cranes, achieving closed-loop fine-tuning to ensure the accuracy of the collaborative control. Furthermore, if the actual difference in the operating status between the two gantry cranes exceeds a set threshold during the collaborative control process, protective adjustments are made (e.g., a multi-level protection mechanism involving alarms, speed reduction, and shutdown).

[0058] In addition, a separate control mode can be selected, allowing for the independent control of either the first or second gantry crane. Once the data processing server receives the separate control mode command from the third PLC system (the control panel is equipped with mode selection buttons, task function buttons, control handles, and emergency stop buttons to meet control requirements such as mode selection, task assignment, manual control (in separate control mode), and emergency stop; the control panel sends a command to the third PLC system to enter separate control mode, which is then forwarded to the data processing server), the data processing server exits the collaborative control mode. Then, the control panel allows for the selection of either the independent control of the first or second gantry crane, and the control handle on the control panel controls the selected crane to execute the corresponding commands. Furthermore, the control commands generated by the control handle are sent from the third PLC system to the corresponding industrial computer system of the gantry crane via a switch. The industrial computer system runs a PID control algorithm (because the industrial computer system can access various feedback data from the gantry crane in real time) to generate control commands, which are then sent to the first PLC system via a bus to control the corresponding gantry crane to perform actions.

[0059] For ease of explanation, spatial relative terms such as “up,” “down,” “left,” and “right” are used in the embodiments to describe the relationship of one element or feature shown in the figures relative to another element or feature. It should be understood that, in addition to the orientations shown in the figures, spatial terms are intended to include different orientations of the device in use or operation. For example, if the device in the figures is inverted, an element described as being “down” of other elements or features would be positioned “up” of those other elements or features. Therefore, the exemplary term “down” can encompass both up and down orientations. The device may be positioned in other ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0060] Moreover, relational terms such as “first” and “second” are used merely to distinguish one component from another that has the same name, without necessarily requiring or implying any such actual relationship or order between the components.

[0061] The present invention has been described above by way of example. It should be noted that any simple modifications, alterations or other equivalent substitutions that can be made by those skilled in the art without creative effort without departing from the core of the present invention fall within the protection scope of the present invention.

Claims

1. An automated control system for coordinated beam lifting of a double gantry crane, characterized in that: The system includes a central control system located at the ground control end, an onboard control system and an onboard operation status data acquisition system located at each gantry crane end, and an environmental data acquisition system located at the construction site. The airborne control system includes a first PLC system, which is used to control the movement of the gantry crane's trolley, overhead crane, and winch according to control commands. The airborne operation status data acquisition system includes a second PLC system, an industrial computer system, and data acquisition systems for the movement trajectories of the trolley, overhead crane, and hook, as well as data acquisition systems for hook load, hook swing, distance between the hook and the beam it is lifting, and gantry crane movement status feedback. The trolley, overhead crane, and hook motion trajectory data acquisition system is connected to the industrial computer system. The hook load data acquisition system, hook swing data acquisition system, hook distance data acquisition system, and gantry crane motion status feedback data acquisition system are all connected to the second PLC system, which collects data from the above-mentioned data acquisition systems. Furthermore, the second PLC system and the first PLC system are interconnected and connected to the industrial computer system and then to a switch. The switch connects the system to the central control system at the ground control terminal. The environmental data acquisition system includes an anti-collision data acquisition system and a video monitoring system, which are connected to the central control system of the ground control terminal via a switch; The central control system at the ground control terminal includes a third PLC system, a data processing server, a control console, and a visual virtual machine terminal. The third PLC system is connected to the control console; the third PLC system is connected to the switch; and the third PLC system is connected to the data processing server, enabling the data processing server to receive the coordinated control instructions from the third PLC system for the two gantry cranes. The data processing server is connected to the switch to obtain anti-collision data and video monitoring data sent by the environmental data acquisition system, as well as real-time absolute position data of the trolley, overhead crane and hook, absolute position data of both ends of the beam, hook load data and hook swing data sent by the airborne operation status data acquisition system. The data processing server then runs virtual machine software based on the above data and displays real-time virtual operation scene images through a visual virtual machine terminal. The second PLC system transmits the collected data to the industrial computer system in real time. The industrial computer system verifies and corrects the real-time absolute position data of the trolley, overhead crane and hook based on the collected gantry crane motion status feedback data, and obtains the corrected real-time absolute position data of the trolley, overhead crane and hook. It also calculates the absolute position data of both ends of the beam based on the distance data between the hook and the beam it is lifting. When the third PLC system issues a control command for the collaborative control mode to the data processing server, the data processing server enters the collaborative control mode. In this mode, the data processing server generates corresponding collaborative control commands based on the further control task commands from the third PLC system, and issues them to the corresponding gantry cranes through the switch to achieve collaborative control of the two gantry cranes. Furthermore, during the collaborative control process, the data processing server adjusts the collaborative control commands in real time based on the real-time data sent from the onboard operation status data acquisition system of the two gantry cranes. When the data processing server receives the instruction for individual control mode issued by the third PLC system, it exits the collaborative control mode and then selects to control the first gantry crane or the second gantry crane individually via the control panel. The control panel then controls the selected first or second gantry crane to execute the corresponding instruction. In individual control mode, the control instructions generated by the control handle are sent by the third PLC system to the industrial computer system of the corresponding gantry crane through the switch. The industrial computer system runs the PID control algorithm to generate control instructions, which are sent to the first PLC system via the bus to control the corresponding gantry crane to perform actions.

2. The automated control system for coordinated beam lifting of a double gantry crane according to claim 1, characterized in that, The system for acquiring motion trajectory data of the gantry crane, overhead crane, and hook is implemented through the RTK-GNSS Beidou positioning system; the industrial computer system calculates the real-time absolute position data of the gantry crane, overhead crane, and hook based on the data acquired by the RTK-GNSS Beidou positioning system.

3. The automated control system for coordinated beam lifting of a double gantry crane according to claim 1, characterized in that, The hook load data acquisition system is equipped with a six-dimensional force sensor installed at the hook position to collect real-time load distribution data of the hook; the hook swing data acquisition system is equipped with an tilt sensor installed at the hook position to detect hook swing data.

4. The automated control system for coordinated beam lifting of a double gantry crane according to claim 1, characterized in that, The distance data acquisition system between the hook and the beam it is hoisting consists of a laser rangefinder installed at the hook position to detect the distance between the hook and the beam it is hoisting below. The current height position of the beam hoisted by the hook is obtained by subtracting this distance from the hook's own height position.

5. The automated control system for coordinated beam lifting of a double gantry crane according to claim 1, characterized in that, The gantry crane motion status feedback data acquisition system is used to collect travel feedback data of the trolley and overhead crane, as well as hook height feedback data. The travel feedback data of the trolley and overhead crane is provided by the encoders of the travel motors of the trolley and overhead crane, and the hook height feedback data is provided by the operating data of the winch on the overhead crane.

6. The automated control system for coordinated beam lifting of a double gantry crane according to claim 1, characterized in that, The collision avoidance data acquisition system involves installing millimeter-wave radar and ultrasonic proximity switches on existing structures at the construction site. The distance between the beam and the existing structures is monitored using these devices, and the risk of collision is determined based on the real-time distance. The video monitoring system involves installing multiple cameras on the gantry crane and at the construction site to collect environmental video data during the operation. The video monitoring system is connected to the central control system on the ground control terminal via a video server connected to a switch.

7. The automated control system for coordinated beam lifting of a double gantry crane according to claim 1, characterized in that, In the virtual operation scene, the real-time position status of the two gantry cranes and the position status of the beam they are hoisting is displayed, as well as the hook load data and hook swing data, which are used to determine whether there is overload or excessive beam swing. If the hook load or beam swing is too large, an alarm is issued or an emergency stop command is automatically sent to the onboard control system of the gantry crane.

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