Concrete hoisting method based on space positioning

Abstract

The invention provides a concrete hoisting method based on spatial positioning, and belongs to the technical field of building construction, and the concrete hoisting method comprises the following steps: S1, spatial coordinate positioning: determining three-dimensional coordinates of a pouring point based on a BIM model, moving a hoisting hopper to a preset height above a target point through a tower crane, and monitoring hoisting position information in real time through a sensor; s2, traction fine adjustment is conducted, after the tower crane hovers, a hoisting hopper fine adjustment structure is installed in advance, four independent traction ropes are arranged on a floor, a worker exerts pulling force on the traction ropes to make the hoisting hopper generate displacement, the position of the hopper is observed through a wall surface laser projection graduated scale, and the position of the hoisting hopper is made to be matched with a target point; and S3, self-adaptive discharging is carried out, the opening degree of an opening-degree-adjustable gate set arranged at a discharging opening is controlled through pressure data of a guide pipe on the hoisting hopper, discharging is carried out, and the problem that after discharging, the materials need to be manually pushed or carried to a pouring point, and the efficiency is low is solved.

Description

Technical Field

[0001] This invention belongs to the field of building construction technology, and more specifically, relates to a concrete hoisting method based on spatial positioning. Background Technology

[0002] When working on high-rise buildings or in narrow spaces where no construction elevator is available, the conventional approach is to use a tower crane or truck crane to lift ordinary hoppers to the unloading platform, then manually transfer them to the floor, and finally manually unload them. This process has significant drawbacks: the hoppers can only be roughly placed to the edge of the platform, and then need to be manually pushed or carried to the pouring point. This not only increases the labor force but also causes a double loss of time and energy due to the "secondary handling." Especially in areas outside the designated area, temporary takeover is required, further reducing efficiency.

[0003] Therefore, existing technologies have not fundamentally solved the technical problem of precise positioning. To address this, a hoisting method based on spatial positioning is designed, which integrates an adjustable gate and independent traction fine-tuning at the four corners to achieve one-time placement and one-time material release, reducing the need for manual secondary handling. Summary of the Invention

[0004] This invention provides a concrete hoisting method based on spatial positioning, which solves the problem of low efficiency caused by the need for manual pushing or carrying of concrete to the pouring point after unloading.

[0005] In view of the above problems, the technical solution proposed by the present invention is as follows: This invention provides a method for hoisting concrete based on spatial positioning, comprising the following steps: S1, spatial coordinate positioning, determines the three-dimensional coordinates of the pouring point based on the BIM model, moves the hoisting bucket to a predetermined height above the target point using a tower crane, and monitors the hoisting position information in real time using sensors; S2, traction fine adjustment: After the tower crane is suspended, the hoisting bucket fine adjustment structure is pre-installed, and four independent traction ropes are arranged on the floor. Workers apply tension to the traction ropes to make the hoisting bucket move. The position of the bucket is observed through the laser projection scale on the wall to match the position of the hoisting bucket with the target point. S3, adaptive unloading, uses the pressure data of the guide pipe on the hoisting hopper to control the opening of the adjustable gate group at the unloading port for unloading; S4, quick-connect extension pipe, is used to temporarily extend the pouring point beyond the designated area.

[0006] As a preferred technical solution of the present invention, in step S1, a total station is used to verify the XYZ coordinates of the BIM model on site. The real-time position data of the hoisting is obtained by installing an angle sensor on the boom of the tower crane and a wire rope encoder on the hook of the tower crane to obtain the three-dimensional coordinates of the tower crane during hoisting. The position of the hoisting hopper is monitored in real time by installing a displacement sensor on the hoisting hopper. The real-time monitored coordinate position data is wirelessly transmitted to the control system of the tower crane.

[0007] As a preferred technical solution of the present invention, in step S2, the fine-tuning structure of the hoisting hopper is constructed by pre-embedding four anchor points A, B, C, and D at the four corners of the floor. The four traction ropes are connected in the manner of AB, BC, CD, and DA. The traction ropes are made of ultra-high molecular weight polyethylene rope, and auxiliary components are provided between the traction ropes and the hoisting hopper. Auxiliary components are provided on the four side walls of the hoisting hopper, including a traction ring welded to the side wall of the hoisting hopper and two guide wheels. The traction ring is located at the center of the side wall of the hopper, and the two guide wheels are respectively located on the front and rear sides of the traction ring. The traction rope passes through the groove of the front guide wheel above / below, passes through the traction ring, and passes through the groove of the rear guide wheel below / above to connect with the anchor point.

[0008] As a preferred technical solution of the present invention, the pressure data in the conduit in step S3 is obtained by arranging at least three wireless pressure sensors at the gate at the bottom of the conduit. The wireless pressure sensors are asymmetrically distributed along the circumference of the conduit and installed on the side wall of the conduit 10-15cm above the gate. The wireless pressure sensors are fixed by a base, and their sensing surfaces are flush with the inner wall of the conduit. Data is transmitted through the LoRa protocol to monitor the fluid pressure of the concrete in the conduit in real time.

[0009] As a preferred embodiment of the present invention, the gate opening control logic in step S3 includes: S31, a wireless pressure sensor with a range of 0–50 kPa is installed inside the conduit, and the data is transmitted back to the control system of the tower crane in real time via LoRa; S32, Threshold judgment: If the static pressure value of the concrete in the duct monitored in real time by the wireless pressure sensor is ≥15kPa, then the target opening degree of the gate is 40%; If the static pressure value of the concrete inside the duct monitored in real time by the wireless pressure sensor is ≤8kPa, then the target opening degree of the gate is 100%. If 8 kPa < the static pressure value of the concrete in the duct monitored in real time by the wireless pressure sensor < 15 kPa, the target opening of the gate is calculated by linear interpolation. S33, Execute: The tower crane's control system calculates the target opening degree every 200ms and sends a control signal to the gate. S34, steady-state detection: when the difference between the static pressure value of the concrete in the duct and the median value of the target range, as monitored in real time by the wireless pressure sensor, is less than 1 kPa within 3 consecutive seconds, the control gate is fully opened to complete the remaining unloading.

[0010] As a preferred embodiment of the present invention, the hoisting hopper includes a hopper and a guide pipe inclined at the bottom of the hopper. The adjustable valve group is located outside the discharge port of the guide pipe. The adjustable valve group includes a mounting frame, a hydraulic push rod for controlling the opening and closing of the gate, and a gate. The mounting frame is screwed to the outside near the discharge port. The hydraulic push rod is arranged on both sides of the gate. The number of gates is two.

[0011] As a preferred embodiment of the present invention, the gate has a U-shaped cross-section, the upper end of the gate is rotatably connected to the discharge port, and a fixed column for the gate to rotate is fixed on the outer side wall of the discharge port. Both the upper and lower ends of the hydraulic push rod are provided with connecting plates, and the sides of the gate and the mounting frame are welded with fixing plates that are bolted / screwed to the connecting plates.

[0012] As a preferred embodiment of the present invention, the hoisting hopper fine-tuning structure includes auxiliary components, a traction rope, a reel, and a mounting frame. When not in use, the traction rope is wound around the outside of the reel. The reel is mounted on the outside of a bracket located at the bottom of the hopper via an inner mounting frame. The top of the mounting frame has a slot for guiding the winding of the traction rope.

[0013] As a preferred embodiment of the present invention, the upper end of the extension tube is sleeved on the outside of the discharge port, and the gate is opened to the maximum. A clamp is sleeved on the outer side of the upper end of the extension tube, and the opening of the clamp is locked with a fixing bolt.

[0014] Compared with the prior art, the beneficial effects of the present invention are: (1); (2).

[0015] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0016] Figure 1 This is a schematic flowchart of a concrete hoisting method based on spatial positioning disclosed in this invention. Figure 2 This is a top view schematic diagram of the fine-tuning structure of the hoisting hopper in a concrete hoisting method based on spatial positioning disclosed in this invention. Figure 3 This is a schematic diagram of the hoisting hopper of a concrete hoisting method based on spatial positioning disclosed in this invention; Figure 4 This is an enlarged view of part A of the structural schematic diagram of the hoisting hopper of the concrete hoisting method based on spatial positioning disclosed in this invention. Figure 5 This is an enlarged view of part B of the structural schematic diagram of the hoisting hopper of the concrete hoisting method based on spatial positioning disclosed in this invention. Figure 6 This is a schematic diagram of the disassembled structure of the connection between the extension pipe and the unloading port in a concrete hoisting method based on spatial positioning disclosed in this invention. Figure 7 This is a schematic diagram of the hoisting state of a concrete hoisting method based on spatial positioning disclosed in this invention. Explanation of reference numerals in the attached drawings: 1. Hoisting hopper; 11. Storage bin; 12. Guide pipe; 13. Lifting lug; 14. Discharge port; 15. Support frame; 2. Fine-tuning structure of hoisting hopper; 21. Traction ring; 22. Guide wheel; 23. Traction rope; 24. Reel; 25. Mounting frame; 3. Adjustable gate assembly; 31. Mounting frame; 32. Hydraulic push rod; 33. Gate; 34. Fixing column; 35. Stop bar; 36. Connecting plate; 37. Connecting beam; 38. Fixing plate; 4. Extension pipe; 41. Clamp; 42. Fixing bolt; 5. Tower crane. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0019] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0020] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0021] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. Example

[0022] See attached document Figure 1-7 As shown, the present invention provides a technical solution: a concrete hoisting method based on spatial positioning, comprising the following steps: S1, Spatial coordinate positioning S11, Data Acquisition: Determine the three-dimensional coordinates of the pouring point based on the BIM model, and use a total station to verify the XYZ coordinates of the BIM model on site (to eliminate the discrepancy between the drawings and the site). S12, Tower Crane 5 motion monitoring, by installing an angle sensor on the boom of Tower Crane 5 and a wire rope encoder on the hook of Tower Crane 5 to obtain the three-dimensional coordinates of Tower Crane 5 during hoisting; The position of the hoisting hopper 1 is monitored in real time by installing displacement sensors on the hoisting hopper 1, and the real-time monitored coordinate position data is wirelessly transmitted to the control system of the tower crane 5. S13, the hoisting bucket 1 is moved to a predetermined height above the target point by connecting the lifting lug 13 on the top of the hoisting bucket 1 to the tower crane 5; S2, Traction Fine Adjustment S21, a traction ring 21 is welded to the center of each of the four side walls of the silo 11. A nylon guide wheel 22 is installed in front of and behind the traction ring 21. Four independent traction ropes 23 are wound and unwound through the reel 24. The mounting frame 25 is fixed to the outside of the bottom support 15 of the silo 11 and connected to the four corner anchor points of the floor respectively. S22, the worker pulls the corresponding traction rope 23, and the laser projection scale displays the displacement in real time until the light spot coincides with the target scale, then the pulling stops; S23, when the worker pulls the traction rope 23, the traction rope 23 is dynamically taut in the groove of the guide wheel 22. When the laser positioning is up to standard, the traction rope 23 is immediately locked with a ratchet tensioner. Its one-way locking mechanism (gear-pawl engagement) achieves a dual effect simultaneously, forming a rigid constraint and locking the traction rope 23 in a taut state, ensuring that it is in close contact with the groove of the guide wheel 22 throughout the process, and avoiding derailment. The tensioning position of the ratchet tensioner is set according to the use of the traction rope 23 to avoid conflict. After pouring, it is unlocked. To release, the release lever must be manually pulled, and the rope is manually wound up using the reel 24. The tower crane is lifted 5 micro-lifted by 0.3m to loosen the rope, and the worker retrieves the rope. S3, adaptive unloading, uses the pressure data from the guide pipe 12 on the hoisting hopper 1 to control the opening of the adjustable gate group 3 at the unloading port 14 for unloading. The opening control logic of the gate 33 includes: S31, a wireless pressure sensor with a range of 0–50 kPa is installed in the conduit 12 (this scenario only requires low pressure and high precision, so a range of 0–50 kPa is customized with a resolution of 0.05 kPa, which is more suitable for fine control and a sampling frequency of 10 Hz). The data is transmitted back to the control system of the tower crane 5 in real time via LoRa. S32, Threshold judgment: If the static pressure value of the concrete in the conduit 12 monitored in real time by the wireless pressure sensor is ≥15kPa, then the target opening of the gate 33 is 40%, which must meet the requirements of anti-splashing of high-flowability concrete. If the static pressure value of the concrete in the conduit 12 monitored in real time by the wireless pressure sensor is ≤8kPa, then the target opening of the gate 33 is 100% to adapt to low-flow concrete. If 8 kPa < the static pressure value of the concrete in the conduit 12 monitored in real time by the wireless pressure sensor < 15 kPa, the target opening of the gate 33 is calculated by linear interpolation. When the pressure value is between 8 kPa and 15 kPa, the gate opening continuously changes between 40% and 100%. The specific method is to first determine the correspondence between the "pressure range" and the "opening range" - 8 kPa corresponds to 40%, 15 kPa corresponds to 100%, and the two are converted proportionally. Therefore, for every 1 kPa increase in pressure, the opening increases by 8.6% (60% ÷ 7 kPa).

[0023] On-site, simply subtract 8 kPa from the current pressure, multiply by 8.6%, and add the result to 40% to obtain the immediate target opening. S33, Execute, the control system of tower crane 5 calculates the target opening degree every 200ms and sends a control signal to gate 33; S34, steady-state detection: when the difference between the static pressure value of the concrete in the conduit 12 monitored by the wireless pressure sensor in real time within 3 consecutive seconds and the median value of the target interval is <1kPa, the control gate 33 is fully opened to complete the remaining unloading. S4, extension tube 4 quick connector S41, if the pouring point exceeds the natural drop radius, the extension pipe 4 is directly sleeved on the outside of the discharge port 14, the gate 33 is fully open, and the U-shaped double gate 33 has no interference; S42, put the clamp 41 on the upper end of the extension tube 4, and the single fixing bolt 42 completes the locking / loosening to form a radial seal; S43, once completed, loosen the bolts and pull out the extension tube 4.

[0024] The embodiments of the present invention are also implemented through the following technical solutions.

[0025] In an embodiment of the present invention, in step S2, the hoisting hopper fine-tuning structure 2 pre-embeds four anchor points A, B, C, and D at the four corners of the floor. The anchor points are pre-embedded steel anchor plates. The four traction ropes 23 are set according to the connection method of AB, BC, CD, and DA, and are connected to the steel anchor plates by screws / bolts. The traction ropes 23 are made of ultra-high molecular weight polyethylene rope, and auxiliary components are provided between the traction ropes 23 and the hoisting hopper 1. Auxiliary components are provided on the four side walls of the hoisting hopper 1, including traction rings 21 welded to the side walls of the hoisting hopper 1 and two guide wheels 22. The traction rings 21 are set in the hopper. At the center of the side wall, two guide wheels 22 are respectively set on the front and rear sides of the traction ring 21. The traction rope 23 passes through the groove of the front guide wheel 22, passes through the traction ring 21, and passes through the groove of the rear guide wheel 22 to connect with the anchor point. The guide wheels 22 are made of nylon, and the traction rope 23 passes through the front and rear guide wheels 22 from the top and bottom respectively. If the front guide wheel 22 passes through the groove from the bottom, the rear one passes through the top. The diameter of the traction ring 21 needs to be compatible with the traction rope 23 to ensure that the traction rope 23 can move within the traction ring 21 and can control the drive of the hopper 11 through the traction ring 21. The four traction ropes 23 are connected independently: No. 1 traction rope 23: Anchor point A - rear side wall of hopper - Anchor point B; No. 2 traction rope 23: Anchor point B - right side wall of hopper - anchor point C; No. 3 traction rope 23: Anchor point C - front side wall of hopper - anchor point D; No. 4 traction rope 23: D anchor point - left side wall of hopper - A anchor point; Specifically, taking the No. 1 traction rope 23 (AB anchor point) as an example, when the worker pulls the No. 1 traction rope 23 to move towards anchor point A, the hopper moves to the left; when pulling towards anchor point B, the hopper moves to the right.

[0026] In addition, the lifting bucket fine-tuning structure 2 is used before lifting. The worker removes the reel 24 from the bucket and holds it in hand. When the bucket is suspended, the worker fully pulls the traction rope 23 from the reel 24 and pulls the hopper 11 for fine-tuning. After the operation is completed, the traction rope 23 is retracted into the reel 24. The traction rope 23 needs to be kept close to the groove of the guide wheel 22 and kept taut.

[0027] In an embodiment of the present invention, the pressure data in the conduit 12 in step S3 is obtained by arranging at least three wireless pressure sensors at the gate 33 at the bottom of the conduit 12. The wireless pressure sensors are asymmetrically distributed around the circumference of the conduit 12, and the three wireless pressure sensors are asymmetrically distributed at angles of 90°, 120°, and 150°, with the vertical direction as the reference. They monitor the pressure at the top, lower middle, and bottom of the conduit, respectively. (Because concrete is prone to flow deviation in the inclined conduit 12, the asymmetrical distribution of the pressure sensors can cover high / medium / low pressure areas and avoid data distortion caused by symmetrical layout.) The wireless pressure sensors are installed on the side wall of the conduit 12 10-15cm above the gate 33. The wireless pressure sensors are fixed by a base, and their sensing surface is flush with the inner wall of the conduit 12. They transmit data through the LoRa protocol to monitor the fluid pressure of the concrete in the conduit 12 in real time.

[0028] In an embodiment of the present invention, the hoisting hopper 1 includes a hopper 11 and a guide tube 12 inclined at the bottom of the hopper 11. An adjustable valve assembly is located outside the discharge port 14 of the guide tube 12. The adjustable valve assembly includes a mounting frame 31, a hydraulic push rod 32 for controlling the opening and closing of the gate 33, and the gate 33. The mounting frame 31 is screwed to the outside near the discharge port 14. The hydraulic push rod 32 is arranged on both sides of the gate 33. There are two gates 33. The hopper 11 is unloaded by opening and closing the two gates 33.

[0029] Specifically, the adjustable valve assembly is installed at the very end of the guide tube 12 (outside the discharge port 14), rather than inside or in the middle of the hopper 11. It adopts a mechanical structure of double gate valves 33 and hydraulic push rods 32 on both sides, which is different from common forms such as single gate valves, butterfly valves or slide gate valves. The mounting frame 31 is fixed to the outside of the guide tube 12 with screws, which is convenient for on-site disassembly and maintenance. The two gate valves 33 can be operated independently to achieve stepless opening of 0-100%, and the hydraulic push rods 32 have a fast response.

[0030] In an embodiment of the present invention, the gate 33 has a U-shaped cross-section. The upper end of the gate 33 is rotatably connected to the discharge port 14, and a fixed column 34 for the gate 33 to rotate is fixed on the outer wall of the discharge port 14, so that the gate 33 can adjust its opening around the fixed column 34. An L-shaped baffle 35 is welded to the inner side of the gate 33 to fill the gap between the two gates 33 and prevent concrete leakage. The vertical section of the L-shaped baffle is welded to the gate 33, and the horizontal section extends into the groove of the opposite gate 33 to form an overlapping seal. The baffle material can be polyurethane rubber, which can fill the gap after being deformed under pressure. Both the upper and lower ends of the hydraulic push rod 32 are provided with connecting plates 36. The sides of the gate 33 and the mounting frame 31 are welded with fixing plates 38 that are bolted / screwed to the connecting plates 36. A connecting beam 37 for mounting the fixing plates 38 is welded to one side of the mounting frame 31. The connection between the hydraulic push rod 32 and the gate 33 is achieved by the cooperation of the fixing plates 38 and the connecting plates 36.

[0031] Specifically, the assembly method of the hydraulic push rod 32, gate 33 and mounting frame 31 is locked at one time through the connecting plate 36-fixing plate 38-bolt (screw) structure. On-site installation or replacement can be completed by simply tightening the bolts, which greatly shortens the maintenance time. Based on the shape design of the gate 33, it can be adjusted within the range of 0-100%. The mounting frame 31 and the guide tube 12 are rigidly connected into a whole through the connecting beam 37, which does not deform when subjected to concrete impact, ensuring that the adaptive unloading logic (step S3) can be executed stably.

[0032] In an embodiment of the present invention, the hoisting hopper fine-tuning structure 2 includes an auxiliary component, a traction rope 23, a reel 24, and a mounting frame 25. When not in use, the traction rope 23 is wound around the outside of the reel 24. The reel 24 is mounted on the outside of the bracket 15 located at the bottom of the hopper 11 via the mounting frame 25 on the inner side. The top of the mounting frame 25 is provided with a slot for guiding the winding of the traction rope 23. The design of the slot ensures that the winding direction is consistent and reduces wear.

[0033] Specifically, the design of the auxiliary components, with double guide wheels 22 and traction ring 21, transforms sliding friction into rolling friction, making it easier for workers to pull. The nylon guide wheels 22 are more impact-resistant. The mounting bracket 25 is directly welded to the outside of the bottom support 15 of the hopper 11, without occupying the space of the hopper 11. Disassembly and assembly can be done simply by loosening the bolts of the reel 24.

[0034] In an embodiment of the present invention, the upper end of the extension pipe 4 is sleeved on the outside of the discharge port 14, and the gate 33 is opened to the maximum. A clamp 41 is sleeved on the outer side of the upper end of the extension pipe 4. The opening of the clamp 41 is locked with a fixing bolt 42. The upper end of the extension pipe 4 is directly sleeved on the outside of the discharge port 14. Even when the gate 33 is fully open, it can still maintain coaxial connection. After the clamp 41 is tightened, it forms a radial seal to prevent concrete from overflowing (for example, under the condition of concrete slump of 180mm and flow rate of 2m / s, the pre-tightening force of the clamp 41 is ≥5kN and can withstand 0.3MPa radial pressure without leakage). The clamp 41 can be locked / loosened with a single fixing bolt 42, realizing the quick connection function and meeting the needs of immediate use when pouring beyond the range. The clamp 41 has a split structure. Even when the gate 33 is opened to the maximum, it does not interfere with the clamp 41, ensuring 100% flow rate and not affecting the flow rate.

[0035] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0036] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process may be rearranged without departing from the scope of this disclosure. The appended method claims provide elements of various steps in an exemplary order and are not intended to limit the scope to the specific order or hierarchy described.

[0037] In the detailed description above, various features are combined together in a single embodiment to simplify this disclosure. This approach to disclosure should not be construed as reflecting an intention that embodiments of the claimed subject matter require more features than are explicitly stated in each claim. Rather, as reflected in the appended claims, the invention is presented with fewer features than all of the features in a single disclosed embodiment. Therefore, the appended claims are hereby explicitly incorporated into the detailed description, with each claim representing a separate preferred embodiment of the invention.

[0038] Those skilled in the art will also understand that the various illustrative logic blocks, modules, circuits, and algorithm steps described in conjunction with the embodiments herein can be implemented as electronic hardware, computer software, or a combination thereof. To clearly illustrate the interchangeability between hardware and software, the various illustrative components, blocks, modules, circuits, and steps described above are generally described in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. Those skilled in the art can implement the described functionality in alternative ways for each specific application; however, such implementation decisions should not be construed as departing from the scope of this disclosure.

[0039] The steps of the methods or algorithms described in conjunction with the embodiments herein can be directly embodied in hardware, software modules executed by a processor, or a combination thereof. The software modules can reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium well known in the art. An exemplary storage medium is connected to the processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and storage medium can reside in an ASIC. The ASIC can reside in a user terminal. Alternatively, the processor and storage medium can exist as discrete components in the user terminal.

[0040] For software implementation, the techniques described in this application can be implemented using modules (e.g., procedures, functions, etc.) that perform the functions described in this application. This software code can be stored in memory units and executed by a processor. The memory units can be implemented within the processor or outside the processor; in the latter case, they are communicatively coupled to the processor via various means, as is well known in the art.

[0041] The foregoing description includes examples of one or more embodiments. It is certainly impossible to describe all possible combinations of components or methods in order to describe the above embodiments, but those skilled in the art will recognize that further combinations and arrangements of the various embodiments are possible. Therefore, the embodiments described herein are intended to cover all such changes, modifications, and variations that fall within the scope of the appended claims. Furthermore, the term "comprising" as used in the specification or claims is interpreted in a manner similar to the term "including," as interpreted when used as a conjunction in the claims. Additionally, the use of any term "or" in the specification of the claims is intended to mean "non-exclusive or."

Claims

1. A concrete hoisting method based on spatial positioning, characterized in that, Includes the following steps: S1, spatial coordinate positioning, based on the BIM model, the three-dimensional coordinates of the pouring point are determined, and the hoisting bucket (1) is moved to a predetermined height above the target point by the tower crane (5), and the hoisting position information is monitored by the sensor; S2, traction fine adjustment, after the tower crane (5) is suspended, by pre-installing the hoisting bucket fine adjustment structure (2), the worker applies tension to the traction rope (23) to fine adjust the hoisting bucket (1), and observes the position of the bucket through the laser projection scale on the wall to match the position of the hoisting bucket (1) with the target point; S3, adaptive unloading, unloading is performed by controlling the opening of the adjustable gate group (3) set at the unloading port (14) by using the pressure data of the guide pipe (12) on the hoisting hopper (1); S4, quick connection of extension pipe (4), for pouring points that exceed the range, temporary extension is carried out through quick extension pipe (4).

2. The concrete hoisting method based on spatial positioning according to claim 1, characterized in that, In step S1, a total station is used to verify the XYZ coordinates of the BIM model on site. The real-time position data of the hoisting is obtained by installing an angle sensor on the boom of the tower crane (5) and a wire rope encoder on the hook of the tower crane (5) to obtain the three-dimensional coordinates of the tower crane (5) during hoisting. The position of the hoisting hopper (1) is monitored in real time by installing a displacement sensor on the hoisting hopper (1). The real-time monitored coordinate position data is wirelessly transmitted to the control system of the tower crane (5).

3. The concrete hoisting method based on spatial positioning according to claim 2, characterized in that, In step S2, the hoisting hopper fine-tuning structure (2) is set up by pre-embedding four anchor points A, B, C, and D at the four corners of the floor and using four traction ropes (23) in the connection method of AB, BC, CD, and DA. The traction ropes (23) are made of ultra-high molecular weight polyethylene rope, and there are auxiliary components between the traction ropes (23) and the hoisting hopper (1). There are auxiliary components on the four side walls of the hoisting hopper (1) in front, back, left, and right. The auxiliary components include a traction ring (21) welded to the side wall of the hoisting hopper (1) and two guide wheels (22). The traction ring (21) is set in the center of the side wall of the hopper, and the two guide wheels (22) are set on the front and back sides of the traction ring (21) respectively. The traction rope (23) passes through the groove of the guide wheel (22) on the front side, passes through the traction ring (21), and passes through the groove of the guide wheel (22) on the rear side to connect with the anchor point.

4. The concrete hoisting method based on spatial positioning according to claim 3, characterized in that, In step S3, the pressure data in the conduit (12) is obtained by arranging at least three wireless pressure sensors at the gate (33) at the bottom of the conduit (12). The wireless pressure sensors are asymmetrically distributed around the conduit (12) and installed on the side wall of the conduit (12) 10-15cm above the gate (33). The wireless pressure sensors are fixed by a base, and their sensing surface is flush with the inner wall of the conduit (12). Data is transmitted through the LoRa protocol to monitor the fluid pressure of the concrete in the conduit (12) in real time.

5. The concrete hoisting method based on spatial positioning according to claim 4, characterized in that, The opening control logic of the gate (33) in step S3 includes: S31, a wireless pressure sensor with a range of 0–50 kPa is installed in the conduit (12), and the data is transmitted back to the control system of the tower crane (5) in real time via LoRa; S32, Threshold judgment: If the static pressure value of the concrete in the conduit (12) monitored in real time by the wireless pressure sensor is ≥15kPa, then the target opening degree of the gate (33) is 40%; If the static pressure value of the concrete in the conduit (12) monitored in real time by the wireless pressure sensor is ≤8kPa, then the target opening degree of the gate (33) is 100%; If 8 kPa < the static pressure value of the concrete in the conduit (12) monitored in real time by the wireless pressure sensor < 15 kPa, the target opening of the gate (33) is calculated by linear interpolation; S33, execute, the control system of the tower crane (5) calculates the target opening degree every 200ms and sends a control signal to the gate (33); S34, steady state detection: when the difference between the static pressure value of the concrete in the conduit (12) monitored by the wireless pressure sensor in real time within 3 seconds and the midpoint of the target interval is <1kPa, the control gate (33) is fully opened to complete the remaining unloading.

6. The concrete hoisting method based on spatial positioning according to claim 5, characterized in that, In step S1, the hoisting hopper (1) includes a hopper (11) and a guide pipe (12) placed obliquely on the bottom side of the hopper (11). In step S3, the adjustable valve group is located outside the discharge port (14) of the guide pipe (12). The adjustable valve group includes a mounting frame (31), a hydraulic push rod (32) for controlling the opening and closing of the gate (33), and the gate (33). The mounting frame (31) is screwed to the outside near the discharge port (14). The hydraulic push rod (32) is set on both sides of the gate (33). There are two gates (33).

7. A concrete hoisting method based on spatial positioning according to claim 6, characterized in that, The gate (33) has a U-shaped cross-section. The upper end of the gate (33) is rotatably connected to the discharge port (14). A fixed column (34) for the gate (33) to rotate is fixed on the outer wall of the discharge port (14). Both the upper and lower ends of the hydraulic push rod (32) are provided with connecting plates (36). The sides of the gate (33) and the mounting frame (31) are welded with fixing plates (38) that are bolted / screwed to the connecting plates (36).

8. A concrete hoisting method based on spatial positioning according to claim 7, characterized in that, The hoisting hopper fine-tuning structure (2) in step S2 includes auxiliary components, a traction rope (23), a reel (24), and a mounting frame (25). When not in use, the traction rope (23) is wound around the outside of the reel (24). The reel (24) is mounted on the outside of the bracket (15) located on the bottom side of the hopper (11) via the mounting frame (25) on the inside. The top of the mounting frame (25) has a slot for guiding the winding of the traction rope (23).

9. A concrete hoisting method based on spatial positioning according to claim 8, characterized in that, In step S4, the upper end of the extension tube (4) is sleeved on the outside of the discharge port (14), and the gate (33) is opened to the maximum. A clamp (41) is sleeved on the outer side of the upper end of the extension tube (4), and the opening of the clamp (41) is locked with a fixing bolt (42).

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