Intelligent tower crane self-adaptive safety envelope planning and dynamic avoidance method and device

Abstract

The invention discloses a self-adaptive safety envelope planning and dynamic avoiding method and device for an intelligent tower crane, and belongs to the technical field of intelligent tower cranes. The method comprises the steps that operation state parameters of all tower cranes of a construction site are obtained; mapping each tower crane to a digital twin environment based on the operation state parameters; in the digital twin environment, generating a dynamic safety envelope of each tower crane based on the operation state parameters; monitoring the overlapping condition among the dynamic security envelopes, and shrinking the target dynamic security envelopes with overlapping under the condition that the overlapping among the dynamic security envelopes meets a preset condition; and under the constraint of the contracted target dynamic safety envelope, planning a motion path of the tower crane corresponding to the target dynamic safety envelope. According to the method, the dynamic safety envelope which is dynamically generated and updated in real time serves as the three-dimensional space constraint of tower crane movement, the accident risk of the construction site can be reduced, and the working efficiency of the construction site is improved.

Description

Technical Field

[0001] This application belongs to the field of intelligent tower crane technology, and in particular relates to an intelligent tower crane adaptive safety envelope planning and dynamic avoidance method and device. Background Technology

[0002] In recent years, with the continuous expansion of building scale and the increase in construction complexity, tower crane operations have gradually developed towards intelligent directions such as multi-machine collaboration and unmanned driving.

[0003] In terms of safety management of tower crane operations, most related technologies adopt the method of setting static restricted areas. By delineating safety boundaries around the tower cranes, static restricted areas are formed to achieve avoidance between tower cranes. However, since the safety boundaries remain static at all times, in high-density tower crane environments, facing complex dynamic scenarios with frequently changing work areas and overlapping equipment running paths, it is difficult to meet the need for flexible adaptation, which can easily lead to misjudgments and increase the risk of accidents. Summary of the Invention

[0004] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes an intelligent tower crane adaptive safety envelope planning and dynamic avoidance method and device to reduce the risk of construction site accidents and improve construction site operation efficiency.

[0005] Firstly, this application provides a method for adaptive safety envelope planning and dynamic obstacle avoidance for intelligent tower cranes, including: Obtain the operating status parameters of each tower crane on the construction site; Based on the aforementioned operating status parameters, each tower crane is mapped to a digital twin environment; In the digital twin environment, a dynamic safety envelope is generated for each of the tower cranes based on the operating status parameters; Monitor the overlap between the dynamic security envelopes, and shrink the target dynamic security envelopes that have overlap if the overlap between the dynamic security envelopes meets the preset conditions. Under the constraints of the contracted target dynamic safety envelope, the motion path of the tower crane corresponding to the target dynamic safety envelope is planned.

[0006] According to the intelligent tower crane adaptive safety envelope planning and dynamic avoidance method of this application, the operating status parameters of each tower crane on the construction site are obtained; each tower crane is mapped to a digital twin environment based on the operating status parameters; in the digital twin environment, a dynamic safety envelope of each tower crane is generated based on the operating status parameters; the overlap between the dynamic safety envelopes is monitored; if the overlap between the dynamic safety envelopes meets the preset conditions, the overlapping target dynamic safety envelope is shrunk; under the constraints of the shrunk target dynamic safety envelope, the motion path of the tower crane corresponding to the target dynamic safety envelope is planned. This application embodiment maps tower cranes to a digital twin environment, dynamically generating and updating a dynamic safety envelope in real time as a three-dimensional spatial constraint for tower crane movement. During tower crane movement, the overlap of the dynamic safety envelope is continuously evaluated to predict collision risks. When the overlap meets preset conditions, the target dynamic safety envelope is promptly contracted and the tower crane path is replanned to avoid collisions. This can accurately and quickly control the safe distance between tower cranes, reduce collisions or operational interference caused by path overlap or scheduling conflicts, reduce the risk of construction site accidents, and improve construction site operation efficiency.

[0007] According to one embodiment of this application, the dynamic safety envelope is a three-dimensional space that constrains the movement of the tower crane.

[0008] According to one embodiment of this application, the operating status parameters include at least one of the following: tower crane posture, hook position, boom angle, movement speed, load mass, wind speed and direction, starting position, and ending position.

[0009] According to one embodiment of this application, mapping each of the tower cranes to a digital twin environment based on the operating status parameters includes: Construct a three-dimensional model of the construction site; The 3D model is imported into the digital twin environment, and the motion state of each tower crane object in the 3D model is updated according to the running status parameters.

[0010] In this embodiment, by constructing a 3D model of the construction site, the geographical environment, building layout, and relative positions of tower cranes can be presented. The 3D model is then imported into a digital twin environment. Utilizing the real-time and interactive nature of digital twin technology, the motion state of each tower crane object in the 3D model is dynamically updated based on the tower crane's operating status parameters. This allows the tower crane's motion state to be intuitively presented and monitored in real time within the virtual environment, further enhancing the safety and reliability of tower crane operations.

[0011] According to one embodiment of this application, generating the dynamic safety envelope of each of the tower cranes based on the operating state parameters includes: The range of motion of the tower crane under different motion states is determined based on the dynamic model of the tower crane; An initial safety envelope for the tower crane is generated based on the range of motion; the initial safety envelope covers the range of motion of the tower crane under different motion states; The boundary of the initial safety envelope is adjusted based on the operating status parameters and obstacles in the construction site to obtain the dynamic safety envelope of the tower crane.

[0012] In this embodiment, the dynamic model of the tower crane can determine the range of motion of the tower crane under different motion states, thereby generating an initial safety envelope. The initial safety envelope covers the possible paths of the tower crane under various motion states, providing basic constraints for the safe operation of the tower crane. Based on the real-time status parameters of the tower crane, such as hook position, boom angle, movement speed, load mass, wind speed and direction, as well as obstacle information in the construction site, the boundary of the initial safety envelope is dynamically adjusted to obtain a dynamic safety envelope. This dynamic adjustment mechanism can optimize the range of the safety envelope in real time according to the actual operation of the tower crane and external environmental factors, so that the tower crane is in a safe movement space under complex working conditions, and can reduce the problem of reduced operation efficiency caused by an excessively large safety envelope, thereby improving the safety and efficiency of tower crane operation.

[0013] According to one embodiment of this application, the method further includes: Obtain the movement trajectory of the tower crane; If the movement trajectory of the tower crane exceeds the dynamic safety envelope of the tower crane, the movement path of the tower crane is corrected so that the tower crane is within the dynamic safety envelope of the tower crane.

[0014] In this embodiment, during actual operation, the tower crane may deviate from the preset dynamic safety envelope due to operational errors, external interference, or other unforeseen circumstances. By acquiring the tower crane's movement trajectory and comparing it with the dynamic safety envelope, the deviation can be detected in a timely manner, and a path correction program can be initiated to adjust the tower crane's movement path, ensuring that the tower crane's movement returns to the safety envelope. This provides continuous safety protection for the tower crane in complex and ever-changing operating environments and reduces the risk of collisions between tower cranes.

[0015] According to one embodiment of this application, a method for determining whether the overlap between the dynamic security envelopes satisfies a preset condition includes: In the case of overlap between the various dynamic security envelopes, calculate the overlap volume of the dynamic security envelopes; If the overlapping volume exceeds the target threshold, the preset condition is determined to be met.

[0016] In this embodiment, under complex working conditions of multiple tower cranes cooperating, the dynamic safety envelopes of each tower crane may overlap. The size of the overlap volume reflects the degree of collision risk. By calculating the overlap volume and comparing it with a preset target threshold, it can be determined whether the overlap has reached the level requiring avoidance measures. When the overlap volume exceeds the target threshold, it is determined that the preset condition is met, and the target dynamic safety envelope is contracted, thereby reducing the range of movement of the tower crane and reducing the collision risk.

[0017] According to one embodiment of this application, calculating the overlap volume of the dynamic security envelope includes: In the digital twin environment, lock the dynamic security envelope of overlapping targets; Extract the three-dimensional coordinate boundary data of the target's dynamic safety envelope; The intersection operation is performed on the target dynamic safety envelope based on the three-dimensional coordinate boundary data to obtain the overlapping volume.

[0018] In this embodiment, by locking the dynamic security envelope of overlapping targets in the digital twin environment, extracting the three-dimensional coordinate boundary data and performing intersection operations to calculate the overlapping volume, the virtual mapping characteristics of the digital twin environment are utilized, so that the locking of the target dynamic security envelope and the extraction of three-dimensional coordinate boundary data can accurately correspond to the real scene, reducing the repeated calculations or correction calculations caused by data distortion and improving the accuracy of the calculation.

[0019] According to one embodiment of this application, the shrinking of the dynamic safety envelope of overlapping targets includes: Determine the priority of multiple tower cranes corresponding to overlapping target dynamic safety envelopes; The target dynamic safety envelope of the tower crane with low priority is contracted.

[0020] In this embodiment, by determining the priorities of multiple tower cranes corresponding to overlapping target dynamic safety envelopes, it is possible to decide which tower cranes' dynamic safety envelopes need to be contracted based on their priorities. After the dynamic safety envelopes of low-priority tower cranes are contracted, not only can the overlapping area between tower cranes be reduced, thus lowering the risk of collision, but also the high-priority tower cranes can complete their work tasks within their original dynamic safety envelopes without needing to stop operating to avoid collisions. This allows tower cranes to work more flexibly and collaboratively in complex working environments, reducing work interruptions caused by safety avoidance and improving the efficiency of construction site operations.

[0021] According to one embodiment of this application, the shrinking of the dynamic safety envelope of overlapping targets includes: Shrink the boundary of the target dynamic security envelope, reduce the radius of the target dynamic security envelope, or adjust the shape of the dynamic security envelope so that the shrunken target dynamic security envelope no longer overlaps, or the overlap volume is less than or equal to the target threshold.

[0022] In this embodiment, different shrinkage methods can be selected according to different scenarios by shrinking the boundary, reducing the radius, or adjusting the shape. Furthermore, the shrinkage process has a quantitative standard, which ensures that the target dynamic safety envelope no longer overlaps or the overlap volume is less than or equal to the target threshold, thereby maximizing the preservation of working space while ensuring safety.

[0023] Secondly, this application provides an intelligent tower crane adaptive safety envelope planning and dynamic avoidance device, comprising: The acquisition module is used to acquire the operating status parameters of each tower crane on the construction site; The mapping module is used to map each of the tower cranes to a digital twin environment based on the operating status parameters; A generation module is used to generate dynamic safety envelopes for each of the tower cranes based on the operating status parameters in the digital twin environment. The monitoring module is used to monitor the overlap between the dynamic security envelopes. When the overlap between the dynamic security envelopes meets the preset conditions, the target dynamic security envelopes with overlap are shrunk. The planning module is used to plan the motion path of the tower crane corresponding to the target dynamic safety envelope under the constraints of the contracted target dynamic safety envelope.

[0024] According to the intelligent tower crane adaptive safety envelope planning and dynamic avoidance device of this application, the operating status parameters of each tower crane on the construction site are obtained; each tower crane is mapped to a digital twin environment based on the operating status parameters; in the digital twin environment, a dynamic safety envelope of each tower crane is generated based on the operating status parameters; the overlap between the dynamic safety envelopes is monitored; if the overlap between the dynamic safety envelopes meets the preset conditions, the overlapping target dynamic safety envelope is contracted; under the constraints of the contracted target dynamic safety envelope, the movement path of the tower crane corresponding to the target dynamic safety envelope is planned. This application embodiment maps tower cranes to a digital twin environment, dynamically generating and updating a dynamic safety envelope in real time as a three-dimensional spatial constraint for tower crane movement. During tower crane movement, the overlap of the dynamic safety envelope is continuously evaluated to predict collision risks. When the overlap meets preset conditions, the target dynamic safety envelope is promptly contracted and the tower crane path is replanned to avoid collisions. This can accurately and quickly control the safe distance between tower cranes, reduce collisions or operational interference caused by path overlap or scheduling conflicts, reduce the risk of construction site accidents, and improve construction site operation efficiency.

[0025] Thirdly, this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the intelligent tower crane adaptive safety envelope planning and dynamic avoidance method as described in the first aspect above.

[0026] Fourthly, this application provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the intelligent tower crane adaptive safety envelope planning and dynamic avoidance method as described in the first aspect above.

[0027] Fifthly, this application provides a chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the intelligent tower crane adaptive safety envelope planning and dynamic avoidance method as described in the first aspect above.

[0028] Sixthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the intelligent tower crane adaptive safety envelope planning and dynamic avoidance method as described in the first aspect above.

[0029] The above-described one or more technical solutions in the embodiments of this application have at least one of the following technical effects: According to the intelligent tower crane adaptive safety envelope planning and dynamic avoidance method of this application, the operating status parameters of each tower crane on the construction site are obtained; each tower crane is mapped to a digital twin environment based on the operating status parameters; in the digital twin environment, a dynamic safety envelope of each tower crane is generated based on the operating status parameters; the overlap between the dynamic safety envelopes is monitored; if the overlap between the dynamic safety envelopes meets the preset conditions, the overlapping target dynamic safety envelope is shrunk; under the constraints of the shrunk target dynamic safety envelope, the motion path of the tower crane corresponding to the target dynamic safety envelope is planned. This application embodiment maps tower cranes to a digital twin environment, dynamically generating and updating a dynamic safety envelope in real time as a three-dimensional spatial constraint for tower crane movement. During tower crane movement, the overlap of the dynamic safety envelope is continuously evaluated to predict collision risks. When the overlap meets preset conditions, the target dynamic safety envelope is promptly contracted and the tower crane path is replanned to avoid collisions. This can accurately and quickly control the safe distance between tower cranes, reduce collisions or operational interference caused by path overlap or scheduling conflicts, reduce the risk of construction site accidents, and improve construction site operation efficiency.

[0030] Furthermore, in some embodiments, by constructing a 3D model of the construction site, the geographical environment, building layout, and relative positions of tower cranes can be presented. The 3D model is then imported into a digital twin environment. Utilizing the real-time and interactive nature of digital twin technology, the motion state of each tower crane object in the 3D model is dynamically updated based on the tower crane's operating status parameters. This allows the tower crane's motion state to be intuitively presented and monitored in real time within the virtual environment, further enhancing the safety and reliability of tower crane operations.

[0031] Furthermore, in some embodiments, the range of motion of the tower crane under different motion states can be determined through the dynamic model of the tower crane, thereby generating an initial safety envelope. The initial safety envelope covers the possible paths of the tower crane under various motion states, providing basic constraints for the safe operation of the tower crane. Based on the real-time state parameters of the tower crane, such as hook position, boom angle, movement speed, load mass, wind speed and direction, as well as obstacle information in the construction site, the boundary of the initial safety envelope is dynamically adjusted to obtain a dynamic safety envelope. This dynamic adjustment mechanism can optimize the range of the safety envelope in real time according to the actual operation of the tower crane and external environmental factors, so that the tower crane is in a safe movement space under complex working conditions, and can reduce the problem of reduced operation efficiency caused by an excessively large safety envelope, thereby improving the safety and efficiency of tower crane operation.

[0032] Furthermore, in some embodiments, during actual operation, the tower crane may deviate from the preset dynamic safety envelope range due to operational errors, external interference, or other unforeseen circumstances. By acquiring the tower crane's movement trajectory and comparing it with the dynamic safety envelope, the deviation of the movement trajectory can be detected in a timely manner, and a path correction program can be initiated to adjust the tower crane's movement path, so that the tower crane's movement returns to the safety envelope range. This can provide continuous safety protection for the tower crane in complex and ever-changing operating environments and reduce the risk of collisions between tower cranes.

[0033] Furthermore, in some embodiments, by locking the dynamic security envelope of overlapping targets in the digital twin environment, extracting the three-dimensional coordinate boundary data and performing intersection operations to calculate the overlapping volume, the virtual mapping characteristics of the digital twin environment are utilized, so that the locking of the target dynamic security envelope and the extraction of three-dimensional coordinate boundary data can accurately correspond to the real scene, reducing the repeated calculations or correction calculations caused by data distortion and improving the accuracy of the calculation.

[0034] Furthermore, in some embodiments, under complex working conditions of multiple tower cranes cooperating, the dynamic safety envelopes of each tower crane may overlap. The size of the overlap volume reflects the degree of collision risk. By calculating the overlap volume and comparing it with a preset target threshold, it can be determined whether the overlap has reached the level requiring avoidance measures. When the overlap volume exceeds the target threshold, it is determined that the preset condition is met, and the target dynamic safety envelope is contracted, thereby reducing the range of movement of the tower crane and reducing the collision risk.

[0035] Furthermore, in some embodiments, by determining the priorities of multiple tower cranes corresponding to overlapping target dynamic safety envelopes, it is possible to decide which tower cranes' dynamic safety envelopes need to be contracted based on their priorities. After the dynamic safety envelopes of low-priority tower cranes are contracted, not only can the overlapping area between tower cranes be reduced, thus lowering the risk of collision, but also allow high-priority tower cranes to complete their work tasks within their original dynamic safety envelopes without needing to stop operating to avoid collisions. This enables tower cranes to work more flexibly and collaboratively in complex working environments, reducing work interruptions caused by safety avoidance and improving the efficiency of construction site operations.

[0036] Furthermore, in some embodiments, by locking the dynamic security envelope of overlapping targets in the digital twin environment, extracting the three-dimensional coordinate boundary data and performing intersection operations to calculate the overlapping volume, the virtual mapping characteristics of the digital twin environment are utilized, so that the locking of the target dynamic security envelope and the extraction of three-dimensional coordinate boundary data can accurately correspond to the real scene, reducing the repeated calculations or correction calculations caused by data distortion and improving the accuracy of the calculation.

[0037] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0038] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a flowchart illustrating the intelligent tower crane adaptive safety envelope planning and dynamic avoidance method provided in the embodiments of this application; Figure 2 This is a schematic diagram of the structure of the intelligent tower crane adaptive safety envelope planning and dynamic avoidance device provided in the embodiments of this application; Figure 3 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0040] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0041] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0042] The intelligent tower crane adaptive safety envelope planning and dynamic avoidance method and device provided in this application will be described in detail below with reference to the accompanying drawings and through specific embodiments and application scenarios.

[0043] Among them, the intelligent tower crane adaptive safety envelope planning and dynamic avoidance method can be applied to the terminal, and can be executed by the hardware or software in the terminal.

[0044] The terminal includes, but is not limited to, portable communication devices such as mobile phones or tablets with touch-sensitive surfaces (e.g., touchscreen displays and / or touchpads). It should also be understood that, in some embodiments, the terminal may not be a portable communication device, but rather a desktop computer with touch-sensitive surfaces (e.g., touchscreen displays and / or touchpads).

[0045] The following embodiments describe a terminal including a display and a touch-sensitive surface. However, it should be understood that the terminal may include one or more other physical user interface devices such as a physical keyboard, mouse, and joystick.

[0046] The intelligent tower crane adaptive safety envelope planning and dynamic avoidance method provided in this application embodiment can be executed by an electronic device or a functional module or entity in an electronic device that can implement the intelligent tower crane adaptive safety envelope planning and dynamic avoidance method. The electronic devices mentioned in this application embodiment include, but are not limited to, mobile phones, tablets, computers, cameras and wearable devices. The following uses an electronic device as the execution subject to illustrate the intelligent tower crane adaptive safety envelope planning and dynamic avoidance method provided in this application embodiment.

[0047] like Figure 1 As shown, the intelligent tower crane adaptive safety envelope planning and dynamic avoidance method includes steps 110, 120, 130, 140 and 150.

[0048] Step 110: Obtain the operating status parameters of each tower crane on the construction site.

[0049] In the modern construction industry, with the rapid development of urban construction, the scale and complexity of large-scale construction sites are increasing day by day. These sites often involve the simultaneous construction of multiple high-rise buildings, from foundation excavation and main structure erection to later decoration and finishing, each stage requiring the transportation and hoisting of a large amount of building materials and equipment components. To meet the needs of efficient construction, construction sites usually deploy multiple tower cranes to work together, forming a high-density cluster operation environment, depending on the scope of construction and workload.

[0050] A tower crane is a highly mechanized and automated lifting device that performs various material handling and hoisting operations through the extension, rotation, and lifting of its boom and hook. The main components of a tower crane include the tower body, boom, counterweight boom, and hook. The tower body provides support, the boom extends the working range, the counterweight boom balances the boom, and the hook is directly used for lifting materials. Tower crane operation involves movement in multiple directions, including horizontal rotation of the boom, extension and retraction of the boom, and vertical lifting and lowering of the hook. The coordinated movement of these actions enables tower cranes to complete various hoisting tasks on complex construction sites. Each tower crane has a specific working radius and lifting capacity. When multiple tower cranes operate in coordination, it is necessary to strictly control their respective range of motion and operating rhythm to avoid collisions or operational interference.

[0051] The operating parameters of a tower crane are those related to its movement, such as crane attitude, hook position, jib angle, speed, load, and wind speed and direction. Crane attitude includes the verticality of the tower and its overall spatial position; jib angle includes slewing angle (horizontal) and pitch angle (vertical), determining the jib's coverage area and working direction; speed can include the jib's slewing speed, luffing speed, and hook lifting speed; load is the weight of the suspended object; wind speed and direction are external environmental factors that affect the tower crane's stability and the swaying of the suspended object.

[0052] In some embodiments, motion state parameters can be obtained from a sensor network deployed on each tower crane. For example, encoders can be installed on the tower crane to monitor the slewing angle, pitch angle, and hook lifting height in real time, thereby calculating the slewing angle and motion speed; RTK (Real-Time Kinematic) combined with a GPS (Global Positioning System) module can provide the three-dimensional coordinates of the tower body, slewing end, and hook, thereby determining the tower crane attitude and hook position; load sensors can be installed on the hook or hoisting mechanism to measure the current load mass; wind speed and direction sensors can be deployed on the top of the tower body or the slewing end to collect wind speed and direction data in the working environment.

[0053] Step 120: Map each tower crane to the digital twin environment based on the operating status parameters.

[0054] Digital twins are a technology that creates virtual copies of physical entities through digital means. By utilizing advanced technologies such as sensors, the Internet of Things (IoT), big data, cloud computing, and artificial intelligence, they combine real-time data of physical objects (such as equipment, buildings, and systems) with virtual models, thereby enabling real-time monitoring, analysis, prediction, and optimization of physical entities. Digital twins are not simply 3D model replicas; they can synchronize the state, movement, and interaction processes of physical entities in real time, achieving bidirectional mapping and real-time interaction between the virtual and real worlds. In the construction industry, a digital twin environment acts as a "virtual copy" of the construction site. It can accurately reproduce static elements such as terrain, building structure, and equipment layout, and also reflect the real-time operating status and processes of various construction equipment, providing an intuitive and dynamic visualization platform for construction management, risk prediction, and process optimization.

[0055] In some embodiments, each tower crane can be modeled according to its actual dimensions and structural parameters (such as tower height, boom length, counterweight specifications, etc.) to obtain a 3D model of each tower crane in a digital twin environment. Based on the operating status parameters of each tower crane, the 3D model in the digital twin environment is driven to achieve dynamic synchronization with the tower crane. For example, when the boom angle of the tower crane transmits real-time data through sensors such as encoders, the 3D model of the tower crane in the digital twin environment will adjust the boom's pitch and slewing angles according to the boom angle, making the 3D model consistent with the posture of the physical boom; the coordinate data of the hook position will also be mapped onto the hook in the 3D model, ensuring that the spatial position of the hook in the 3D model is consistent with that in reality.

[0056] The mapping process involves the coordinated operation of multiple parameters. For example, when environmental parameters such as wind speed and direction change, the 3D model in the digital twin environment will combine the structural characteristics of the tower crane to simulate dynamic responses such as slight swaying of the tower or swinging of the suspended load, making the virtual image closer to the actual operating state of the physical tower crane.

[0057] Step 130: In the digital twin environment, generate the dynamic safety envelope of each tower crane based on the operating status parameters.

[0058] In this embodiment, the dynamic safety envelope is a three-dimensional space that constrains the movement of the tower crane. For example, the dynamic safety envelope is a real-time updated three-dimensional spatial region defined for the tower crane. This three-dimensional spatial region not only includes the movement range of the tower crane's own structure (such as the tower body, boom, and hook), but also reserves a safety redundancy space based on the real-time status of the tower crane and the external environment, serving as a "virtual safety boundary" to constrain the tower crane's movement. Unlike traditional static restricted areas, the dynamic safety envelope dynamically expands or deforms with factors such as the tower crane's attitude adjustment, load changes, movement speed, and even wind speed and direction. The movement of the tower crane is constrained by the dynamic safety envelope. By monitoring the dynamic safety envelopes of each tower crane, the relative positions and movement trends between tower cranes can be understood, thereby predicting collision risks in advance and taking corresponding avoidance measures.

[0059] In this embodiment, a dynamic safety envelope can be generated based on the tower crane's operating status parameters. For example, the tower crane's movement range and direction can be determined by its posture and boom angle, helping to understand the current posture of the tower crane and the extension direction of the boom, thus providing basic data for the shape and direction of the dynamic safety envelope. For instance, if the tower crane's boom is in a horizontally extended state, the dynamic safety envelope will form a large protection area in front of and to both sides of the boom.

[0060] The size and dynamic changes of the dynamic safety envelope can be determined by the hook position and speed parameters. If the hook is moving rapidly, the dynamic safety envelope needs to be expanded accordingly to provide sufficient buffer space to cope with potential emergencies. The load mass of the tower crane affects its operational stability and safety. For example, a heavier load can cause the tower crane's center of gravity to shift, thus affecting its motion characteristics and stability. When generating the dynamic safety envelope, its size and shape can be adjusted according to the load mass. Wind forces may cause the tower crane to sway or deviate from its intended path. Therefore, when generating the dynamic safety envelope, it can be adjusted according to wind speed and direction to increase additional buffer space.

[0061] Generating a dynamic safety envelope can comprehensively consider the tower crane's operating status parameters. For example, the tower's verticality, the boom's pitch angle, and the slewing angle together constitute the tower crane's overall attitude. By combining these parameters, a three-dimensional space can be constructed that includes the area around the tower, the conical area swept by the boom's rotation, and the vertical area of ​​the hook's lifting and lowering—this is the dynamic safety envelope. The dynamic safety envelope is continuously updated by receiving new operating status parameters in real time. For example, when the boom begins to rotate, the dynamic safety envelope adjusts its shape and position in real time as the boom rotates; when the wind speed suddenly increases, the boundary of the dynamic safety envelope expands outward to increase safety redundancy.

[0062] Step 140: Monitor the overlap between each dynamic safety envelope. If the overlap between dynamic safety envelopes meets the preset conditions, shrink the target dynamic safety envelope that has overlap.

[0063] In this embodiment, the dynamic safety envelope is the safety boundary of the tower crane. The overlap between dynamic safety envelopes indicates a potential collision risk between tower cranes. By monitoring the overlap, potential path conflicts or close proximity issues between tower cranes in the physical world can be predicted in advance. When the overlap meets preset conditions, the dynamic safety envelope is contracted to create avoidance space for the tower cranes and reduce the occurrence of collision accidents.

[0064] In some embodiments, the spatial positional relationship between various dynamic safety envelopes can be calculated using spatial geometry algorithms in a digital twin environment. When an overlap is found between dynamic safety envelopes, information such as the range and location of the overlap, as well as the tower crane number involved, can be recorded.

[0065] Preset conditions can include risk indicators such as the volume of overlap and the duration of overlap. For example, if the overlap volume of two dynamic safety envelopes exceeds a certain threshold (such as accounting for 10% of the total area of ​​one of the dynamic safety envelopes), or if the overlap lasts for more than a preset time (such as 5 seconds), then the preset conditions are determined to be met.

[0066] The target dynamic safety envelope is an overlapping dynamic safety envelope. When the overlap meets preset conditions, the target dynamic safety envelope can be contracted to create avoidance space for the tower crane and reduce the occurrence of collision accidents. The contraction strategy can be to contract the target dynamic safety envelope as a whole, or to contract it locally according to the overlapping position, so as to reduce the overlapping volume or even eliminate the overlap.

[0067] Step 150: Under the constraints of the contracted target dynamic safety envelope, plan the motion path of the tower crane corresponding to the target dynamic safety envelope.

[0068] In this embodiment of the application, after the target dynamic safety envelope shrinks, the tower crane's movable space is restricted, and the tower crane's movement path needs to be replanned so that the tower crane can continue to complete the lifting task under the new safety constraints and reduce the possibility of collisions with other tower cranes.

[0069] In some embodiments, spatial sampler-based algorithms, such as Informed-RRT* (Informed Rapidly-exploring Random Tree Star) and ant colony algorithms, can be used to plan the motion path of the tower crane corresponding to the target dynamic safety envelope; model-based predictive control methods can also be used to plan the motion path of the tower crane corresponding to the target dynamic safety envelope; other path planning algorithms can also be used to plan the motion path of the tower crane corresponding to the target dynamic safety envelope. This application embodiment does not limit the scope of these methods.

[0070] Among them, Informed-RRT* is a sampling-based path planning algorithm that explores the feasible space through random sampling and tree-structure expansion. After the dynamic safety envelope of the tower crane shrinks, the Informed-RRT* algorithm randomly samples within the shrunken target dynamic safety envelope, generating a series of sampling points. By connecting these sampling points, a tree structure is gradually constructed until a feasible path from the starting position of the hook to the target position of the hook is found. During the path generation process, the algorithm continuously optimizes the path, selecting the shortest, smoothest path that is within the target dynamic safety envelope. The target position can be the location the hook needs to reach; for example, if the tower crane needs to transport building materials from the ground to the top floor of a building, then the target position is the top floor of the building.

[0071] Ant colony optimization (ACO) is an optimization algorithm that simulates the foraging behavior of ants. Ants release pheromones while searching for food, and other ants choose paths based on pheromone concentration. ACO simulates this process, utilizing the positive feedback mechanism of pheromones to optimize paths. In a scenario where the dynamic safety envelope of a tower crane contracts, ACO first initializes a colony of ants and places them at the starting position of the hook. Each ant randomly selects a path within the target dynamic safety envelope and releases pheromones based on the feasibility and safety of the path. Over time, paths with higher pheromone concentrations are chosen by more ants, gradually forming an optimized path. Finally, the algorithm generates the optimal path from the starting position to the target position through multiple iterations.

[0072] Model-based predictive control (MBC) is an optimization control method based on a system model. It optimizes control inputs by predicting the future state of the system to achieve optimal system performance. After the dynamic safety envelope of the tower crane shrinks, the algorithm first establishes a dynamic model of the tower crane and an environmental model. Then, by predicting the crane's motion state in the future, it generates a series of candidate paths. By evaluating the safety, feasibility, and efficiency of each path, it selects the optimal path as the crane's motion path. During the path planning process, the algorithm continuously updates the predictive model to adapt to changes in the dynamic environment.

[0073] In some embodiments, after path planning is completed, the planned path can be sent to the tower crane's control system to control the tower crane to move along the planned path. In some embodiments, the tower crane's movement status and environmental changes can also be monitored. If new collision risks are detected or the path is not feasible, the path planning process can be restarted to improve the safety of tower crane operation.

[0074] According to the intelligent tower crane adaptive safety envelope planning and dynamic avoidance method of this application, the operating status parameters of each tower crane on the construction site are obtained; each tower crane is mapped to a digital twin environment based on the operating status parameters; in the digital twin environment, a dynamic safety envelope of each tower crane is generated based on the operating status parameters; the dynamic safety envelope is a three-dimensional space that constrains the movement of the tower crane; the overlap between each dynamic safety envelope is monitored, and if the overlap between the dynamic safety envelopes meets the preset conditions, the overlapping target dynamic safety envelope is shrunk; under the constraint of the shrunk target dynamic safety envelope, the movement path of the tower crane corresponding to the target dynamic safety envelope is planned. This application embodiment maps tower cranes to a digital twin environment, dynamically generating and updating a dynamic safety envelope in real time as a three-dimensional spatial constraint for tower crane movement. During tower crane movement, the overlap of the dynamic safety envelope is continuously evaluated to predict collision risks. When the overlap meets preset conditions, the target dynamic safety envelope is promptly contracted and the tower crane path is replanned to avoid collisions. This can accurately and quickly control the safe distance between tower cranes, reduce collisions or operational interference caused by path overlap or scheduling conflicts, reduce the risk of construction site accidents, and improve construction site operation efficiency.

[0075] In some embodiments, mapping each tower crane to a digital twin environment based on operational status parameters includes: Construct a 3D model of the construction site; Import the 3D model into the digital twin environment and update the motion state of each tower crane object in the 3D model according to the running status parameters.

[0076] In this embodiment, the 3D model of the construction site can reflect the site's geographical environment, building layout, and the location of various equipment. Through 3D modeling technology, the details of the construction site can be presented digitally, including building heights, road layouts, construction area divisions, and various tower cranes.

[0077] In this embodiment, drone aerial photography can be used to acquire terrain and building appearance information of the construction site, and high-precision 3D point cloud data can be obtained through laser scanning technology. Combined with construction drawings and design documents, various objects on the construction site can be modeled to form a 3D model of the construction site. A digital twin environment is a virtual, dynamic digital space that reflects various changes in the physical world in real time. Importing a 3D model into a digital twin environment allows the physical space of a construction site to be digitally reproduced in a virtual space. Specifically, virtual simulation software such as Unity3D or Unreal Engine can be selected to build a digital twin environment. The 3D model files are then converted to formats supported by the digital twin environment, such as FBX (Filmbox) and OBJ (WavefrontObject). Import tools or interfaces are then used to load the model files into the digital twin environment.

[0078] After the 3D model is successfully imported into the digital twin environment, the tower crane can be mapped, matching its actual position, attitude, and motion state with the tower crane object in the 3D model. This allows the tower crane object in the digital twin environment to reflect the actual tower crane's operating status in real time.

[0079] In a digital twin environment, the movement status of a tower crane needs to be updated based on real-time acquired operational status parameters. For example, when the tower crane's boom begins to rotate, the tower crane object in the digital twin environment will adjust the boom's rotation angle accordingly; when the hook begins to rise or fall, the hook position of the tower crane object will also be updated in real time.

[0080] In this embodiment, by constructing a 3D model of the construction site, the geographical environment, building layout, and relative positions of tower cranes can be presented. The 3D model is then imported into a digital twin environment. Utilizing the real-time and interactive nature of digital twin technology, the motion state of each tower crane object in the 3D model is dynamically updated based on the tower crane's operating status parameters. This allows the tower crane's motion state to be intuitively presented and monitored in real time within the virtual environment, further enhancing the safety and reliability of tower crane operations.

[0081] In some embodiments, generating a dynamic safety envelope for each tower crane based on operating state parameters includes: The range of motion of the tower crane under different motion states is determined based on the dynamic model of the tower crane; An initial safety envelope for the tower crane is generated based on its range of motion; the initial safety envelope covers the range of motion of the tower crane under different motion states. The boundaries of the initial safety envelope are adjusted based on the operating status parameters and obstacles on the construction site to obtain the dynamic safety envelope of the tower crane.

[0082] In this embodiment, the tower crane's dynamic model is a mathematical model constructed based on the tower crane's mechanical structure, power transmission system, and motion characteristics. It can describe the motion patterns of various tower crane components (such as the tower body, boom, and hook) under different driving forces. For example, it can describe the angular velocity limit of the boom driven by the slewing motor, the maximum distance the luffing mechanism can extend or retract the boom, and the acceleration range of the hoisting mechanism controlling the hook's lifting and lowering. Through the dynamic model, the physical limit positions that each component can reach under different motion states, such as no-load, full-load, low-speed operation, and high-speed rotation, can be calculated.

[0083] The core components of a tower crane include the tower body, jib, slewing mechanism (connecting the tower body and jib to achieve horizontal rotation of the jib), luffing mechanism (controlling the extension, retraction, and pitch of the jib to adjust the working radius), hoisting mechanism (driving the lifting and lowering of the hook), and counterweight. In establishing the dynamic model of the tower crane, it is necessary to clarify the geometric parameters of each component, such as the tower height and cross-sectional dimensions, the jib length and weight distribution, and the mass of the hook, as well as the connection relationships, such as the position of the slewing mechanism's rotation axis and the connection point between the luffing mechanism and the jib. The tower crane can be abstracted as a multi-rigid-body mechanical system. For example, the tower body can be considered a rigid rod fixed to the ground, the jib can be considered a flexible beam rotating around the slewing center, and the hook can be considered a point mass or rigid body suspended from the steel cable at the end of the jib.

[0084] For different motion modes of the tower crane, separate dynamic equations are constructed. For example, for the slewing motion of the boom, the driving torque of the slewing motor, the centrifugal force of the boom and the counterweight, and the frictional force of the slewing bearing are considered, and the relationship between angular velocity, angular acceleration, and forces is established using the angular momentum theorem. For the luffing motion of the boom, such as pitch angle adjustment, the equation for angular displacement as a function of time is established by combining the thrust of the luffing cylinder, the self-weight of the boom, and the gravitational torque of the suspended load. For the lifting motion of the hook, the tension of the hoisting motor, the gravity of the suspended load and hook, and the elastic deformation of the steel rope are considered, and the relationship between the acceleration, velocity, and displacement of the hook is described using Newton's second law. Of course, physical constraints of each motion mechanism can also be introduced, such as the maximum limit of the slewing angle, the stroke limit of the luffing mechanism, and the maximum tension of the hoisting mechanism (corresponding to the rated load), to ensure that the dynamic model conforms to the mechanical performance of the tower crane.

[0085] Furthermore, the dynamic model can incorporate the influence of load mass and environmental factors. In tower crane operations, the mass of the suspended load is an important dynamic load, and the magnitude of the load directly affects the force on the boom and the overall stability. When modeling, the load mass can be included as a variable in the mechanical equations. Additionally, the forces or moments generated by wind loads can be calculated based on wind speed, wind direction, and the windward area of ​​each component of the tower crane. For example, wind force perpendicular to the boom direction can cause the boom to bend, while horizontal wind direction can generate thrust on the tower body. The forces or moments generated by wind loads can be added as external force terms to the dynamic equations to reflect the dynamic response of the tower crane in strong wind environments.

[0086] After the initial establishment of the dynamic model, it can be verified by combining it with the actual operating data of the tower crane. For example, under no-load, full-load, and different wind speed conditions, the actual rotation angle of the boom, luffing speed, and hook lifting acceleration data can be collected by sensors and compared with the simulation results of the dynamic model. The parameters in the equations, such as the friction coefficient, the elastic coefficient of the steel rope, and the wind load coefficient, can be adjusted until the error between the predicted value and the measured value of the dynamic model is controlled within the allowable range.

[0087] The actual range of motion of a tower crane under different motion states can be determined by using its dynamic model. For example, when the tower crane is in a state of high-speed boom rotation, the maximum rotation angle and speed can be calculated using the dynamic model, thus determining the range of motion; when the tower crane is operating at low speed while lifting heavy objects, the dynamic model can be used to calculate the reduced extension range of the boom due to load limitations, thus determining the range of motion.

[0088] In this embodiment, the initial safety envelope is a three-dimensional region formed by reserving a certain safety redundancy space based on the range of motion. The safety redundancy space is set to cope with minor errors in the movement of the tower crane, such as slight swaying of the boom due to mechanical clearance, and small displacement of the hook due to inertia. Even if these errors exist, all components of the tower crane can remain within the initial safety envelope, reducing the possibility of unexpectedly exceeding the limit range.

[0089] In this embodiment, the range of motion of the tower crane under different motion states can be integrated to form an initial safety envelope that can cover the range of motion of the tower crane under different motion states. For example, when the tower crane is unloaded, the boom can extend to its maximum radius, and the range of motion of the tower crane may be larger. When fully loaded, the range of motion that the boom can extend may be smaller due to the limitation of the load mass. The initial safety envelope can cover all the ranges of motion under these different states, forming a large compatibility space.

[0090] An excessively large redundancy in the initial safety envelope could restrict the operating range of other tower cranes and reduce construction efficiency. Therefore, the initial safety envelope can be dynamically corrected by combining real-time acquired operating status parameters and obstacles on the construction site to form a dynamic safety envelope.

[0091] Obstacles on a construction site are external factors that limit the range of movement of tower cranes. These obstacles can be static or dynamic. Static obstacles can include the main building structure, scaffolding, material storage areas, temporary offices, etc. Static obstacles are relatively fixed in location and create a "physical no-go zone" within the tower crane's operating radius. Dynamic obstacles can include other tower cranes in operation and ground-based construction machinery (such as concrete mixer trucks and cranes). The position and trajectory of dynamic obstacles change in real time, thus dynamically limiting the range of movement of the tower crane.

[0092] Based on obstacles on the construction site, the initial safety envelope can be further adjusted. For example, if there is a building in a certain direction of the tower crane's movement, the tower crane's movement range will shrink to the area outside the building. Based on the location of the obstacle, the portion of the initial safety envelope in the direction of the obstacle can be shrunk so that the obstacle is outside the shrunk initial safety envelope.

[0093] In this embodiment, the initial safety envelope can be adjusted in different ways for different operating state parameters. For example, if the speed of the tower crane decreases, the initial safety envelope can be appropriately contracted in the direction of the tower crane's movement; if the load mass of the tower crane decreases, the initial safety envelope can be appropriately contracted in all directions; if the boom angle of the tower crane changes, the initial safety envelope can be expanded or contracted in the direction of the change in boom angle.

[0094] In some embodiments, the initial safety envelope can be adjusted based on the tower crane's starting and target positions. For example, the range of motion from the tower crane's starting position to the target position under different motion states can be calculated based on the tower crane's dynamic model, and the initial safety envelope can be contracted according to this motion orientation. Further obstacle adjustment can be incorporated. For instance, if obstacles exist within the range of motion from the tower crane's starting position to the target position under different motion states, the portion of the initial safety envelope located in the direction of the obstacles can be contracted so that the obstacles are outside the contracted initial safety envelope.

[0095] After generating the dynamic safety envelope, the dynamic safety envelope can be adjusted based on the motion state parameters collected each time, referring to the method described above for adjusting the initial safety envelope. For example, if the speed of the tower crane increases, the dynamic safety envelope can be appropriately expanded in the direction of the tower crane's movement; if the load mass of the tower crane increases, the initial safety envelope can be appropriately expanded in all directions.

[0096] In this embodiment, the dynamic model of the tower crane can determine the range of motion of the tower crane under different motion states, thereby generating an initial safety envelope. The initial safety envelope covers the possible paths of the tower crane under various motion states, providing basic constraints for the safe operation of the tower crane. Based on the real-time status parameters of the tower crane, such as hook position, boom angle, movement speed, load mass, wind speed and direction, as well as obstacle information in the construction site, the boundary of the initial safety envelope is dynamically adjusted to obtain a dynamic safety envelope. This dynamic adjustment mechanism can optimize the range of the safety envelope in real time according to the actual operation of the tower crane and external environmental factors, so that the tower crane is in a safe movement space under complex working conditions, and can reduce the problem of reduced operation efficiency caused by an excessively large safety envelope, thereby improving the safety and efficiency of tower crane operation.

[0097] In some embodiments, the method further includes: Obtain the movement trajectory of the tower crane; If the tower crane's trajectory exceeds its dynamic safety envelope, the crane's path is corrected to bring it back within its dynamic safety envelope.

[0098] In this embodiment, the tower crane's motion trajectory can be generated based on the tower crane's operating status parameters acquired by its sensor network. For example, the three-dimensional coordinates of the boom end and hook are obtained through an RTK positioning system, the boom's slewing angle and luffing angle are recorded by an encoder, and combined with parameters such as the tower crane's height, the real-time position of the boom in space is calculated. Sensors on the hoisting mechanism record the hook's lifting height, thereby determining the hook's vertical motion trajectory. The position, angle, and other data collected by these sensors can be integrated in a time series to reconstruct the motion paths of each key component of the tower crane in a digital twin environment, forming a continuous motion trajectory record.

[0099] The dynamic safety envelope serves as a three-dimensional spatial constraint on the tower crane's motion. Its boundaries are adjusted in real time according to the tower crane's operating status, and the motion trajectory reflects the actual movement path of the tower crane. The tower crane's motion trajectory and dynamic safety envelope can be compared in real time in a digital twin environment to determine whether the tower crane's motion trajectory exceeds the dynamic safety envelope.

[0100] When the tower crane's trajectory exceeds the dynamic safety envelope, it indicates a potential collision risk. In this situation, the tower crane's movement path needs to be corrected promptly to bring it back within the dynamic safety envelope.

[0101] In this embodiment, the correction strategy may include the following methods: Adjusting the movement speed: If the tower crane moves too fast, it may exceed the dynamic safety envelope. In this case, the tower crane's movement speed can be reduced.

[0102] Changing the direction of motion: If the direction of motion of the tower crane causes it to exceed the dynamic safety envelope, the tower crane's trajectory can be brought back into the safety envelope by adjusting the rotation angle of the boom or the lifting direction of the hook.

[0103] The above-mentioned correction strategy eliminates the need to replan the tower crane's movement path; instead, it allows for minor adjustments, resulting in higher efficiency.

[0104] In this embodiment, during actual operation, the tower crane may deviate from the preset dynamic safety envelope due to operational errors, external interference, or other unforeseen circumstances. By acquiring the tower crane's movement trajectory and comparing it with the dynamic safety envelope, the deviation can be detected in a timely manner, and a path correction program can be initiated to adjust the tower crane's movement path, ensuring that the tower crane's movement returns to the safety envelope. This provides continuous safety protection for the tower crane in complex and ever-changing operating environments and reduces the risk of collisions between tower cranes.

[0105] In some embodiments, a method for determining whether the overlap between dynamic security envelopes satisfies a preset condition includes: Calculate the overlap volume of the dynamic safety envelopes when there is overlap between them; If the overlapping volume exceeds the target threshold, the preset conditions are determined to be met.

[0106] In this embodiment, when there is overlap between dynamic safety envelopes, the overlap volume is an indicator for judging the degree of risk. The overlap volume is the volume of the overlapping portion of two dynamic safety envelopes.

[0107] In some embodiments, calculating the overlap volume of the dynamic security envelope includes: Locking dynamic safety envelopes of overlapping targets in a digital twin environment; Extract the three-dimensional coordinate boundary data of the target's dynamic safety envelope; The overlapping volume is obtained by performing intersection operations on the target's dynamic safety envelope based on the three-dimensional coordinate boundary data.

[0108] In this embodiment, when calculating the overlapping volume, the dynamic safety envelope of the overlapping targets can be locked in the digital twin environment first, and the three-dimensional coordinate boundary data of the target dynamic safety envelope can be extracted. For example, the range of each target dynamic safety envelope can be defined by a set of spatial coordinates such as the maximum and minimum values ​​of the x, y, and z axes.

[0109] Intersection operations are performed on the dynamic safety envelope of the target using spatial geometric algorithms. Specifically, the overlapping regions in spatial coordinates are first determined, then the solid shape of the overlapping part is calculated based on these overlapping regions, and the volume of the solid shape is obtained through integration or discretization. Of course, in a digital twin environment, CAD (Computer-Aided Design) plugins can also be used to calculate the overlapping volume; this application does not limit this approach.

[0110] In this embodiment, by locking the dynamic security envelope of overlapping targets in the digital twin environment, extracting the three-dimensional coordinate boundary data and performing intersection operations to calculate the overlapping volume, the virtual mapping characteristics of the digital twin environment are utilized, so that the locking of the target dynamic security envelope and the extraction of three-dimensional coordinate boundary data can accurately correspond to the real scene, reducing the repeated calculations or correction calculations caused by data distortion and improving the accuracy of the calculation.

[0111] After obtaining the overlapping volume, it can be compared with the target threshold for the overlapping volume. The target threshold can be determined by combining the site's safety standards, the tower crane's operating status, and the complexity of the multi-tower coordination. For example, for tower cranes lifting heavy loads or moving at high speeds, due to their large inertia and long braking distance, the target threshold will be set lower (e.g., 5 cubic meters), and even a small overlapping volume will be judged as risky; while for tower cranes operating at low speeds or unloaded, the threshold can be appropriately increased (e.g., 15 cubic meters) to reduce the impact on construction efficiency.

[0112] In some embodiments, the target threshold can be predetermined as described above, or it can be determined based on the tower cranes corresponding to the overlapping target dynamic safety envelopes. For example, the load, speed, and other parameters of the tower cranes corresponding to the target dynamic safety envelopes can be determined separately. Different loads and speeds correspond to different target thresholds. The larger the load and the higher the speed, the smaller the target threshold, so that there is sufficient safety buffer space between the tower cranes.

[0113] When the overlap volume exceeds the target threshold, it can be determined that the preset conditions are met, triggering the contraction mechanism of the dynamic safety envelope.

[0114] In some embodiments, shrinking the dynamic safety envelope of overlapping targets includes: Shrink the boundary of the target dynamic safety envelope, reduce the radius of the target dynamic safety envelope, or adjust the shape of the dynamic safety envelope so that the shrunken target dynamic safety envelope no longer overlaps, or the overlapping volume is less than or equal to the target threshold.

[0115] In this embodiment, the boundary is the spatial limit of the target's dynamic security envelope, determining its coverage area. The boundary can be tightened inwards from its original position, thereby reducing the extension range in specific directions and decreasing the overall spatial proportion. For example, for a cuboid-shaped security envelope, the extension length of the boundary can be shortened in the x, y, and z axes, causing the coverage area in each direction to shrink inwards by a certain distance. Of course, the boundary can also be contracted in overlapping directions; this embodiment does not limit this approach.

[0116] If the target dynamic safety envelope is a shape with a radius parameter, such as a sphere, the radius of the target dynamic safety envelope can be reduced. The reduction in radius can cause the target dynamic safety envelope to shrink uniformly from the center of the sphere inward, and the coverage area in each direction will shrink synchronously.

[0117] In addition to adjusting the boundaries and radii, the shape of the target's dynamic safety envelope can also be adjusted according to actual needs. For example, some sharp edges protruding from the overlapping area can be cut off, or the curvature of local surfaces can be changed, thereby reducing the overlapping volume.

[0118] During the contraction process, the movement status of the tower crane and the change in the overlapping volume can be monitored to ensure that the dynamic safety envelope after contraction no longer overlaps, or that the overlapping volume is less than or equal to the target threshold.

[0119] In this embodiment, different shrinkage methods can be selected according to different scenarios by shrinking the boundary, reducing the radius, or adjusting the shape. Furthermore, the shrinkage process has a quantitative standard, which ensures that the target dynamic safety envelope no longer overlaps or the overlap volume is less than or equal to the target threshold, thereby maximizing the preservation of working space while ensuring safety.

[0120] In this embodiment, under complex working conditions of multiple tower cranes cooperating, the dynamic safety envelopes of each tower crane may overlap. The size of the overlap volume reflects the degree of collision risk. By calculating the overlap volume and comparing it with a preset target threshold, it can be determined whether the overlap has reached the level requiring avoidance measures. When the overlap volume exceeds the target threshold, it is determined that the preset condition is met, and the target dynamic safety envelope is contracted, thereby reducing the range of movement of the tower crane and reducing the collision risk.

[0121] In some embodiments, shrinking the dynamic safety envelope of overlapping targets includes: Determine the priority of multiple tower cranes corresponding to overlapping target dynamic safety envelopes; Shrink the target dynamic safety envelope for low-priority tower cranes.

[0122] In this embodiment, determining the priority of tower cranes can clarify which tower cranes should have their working space reserved in a conflict scenario and which tower cranes need to be actively avoided.

[0123] In some embodiments, the priority of each tower crane can be predetermined. For example, a higher priority can be assigned to tower cranes on the critical path or those performing important tasks, based on a pre-set construction plan. Priority identifiers can be set for each tower crane, and the priority of each tower crane can be determined by identifying the priority identifiers of each tower crane.

[0124] In some embodiments, the priority of multiple tower cranes corresponding to overlapping target dynamic safety envelopes can be determined by comprehensively considering multiple dimensions such as the real-time operating status of the tower cranes, tower height, task urgency, and load characteristics. For example, the operational task attributes of the tower cranes can be considered. If a tower crane is performing a critical process, such as hoisting a main steel structure beam, which directly affects multiple subsequent construction stages, the priority of that tower crane will be higher than that of a tower crane performing routine material transfer. The load situation can also be considered. Tower cranes hoisting heavy loads have a higher priority than unloaded or lightly loaded tower cranes due to the greater difficulty in braking and the more serious consequences of collisions. The movement state of the tower cranes can also be considered. Tower cranes moving at high speeds or about to reach the end of the operation have a higher priority than tower cranes moving at low speeds because the cost of adjusting the path is higher. The height of the tower cranes can also be considered. Higher tower cranes have a higher priority than lower tower cranes. Of course, the priority of tower cranes can also be determined based on other factors, which are not limited in this embodiment.

[0125] After determining the priority, the target dynamic safety envelope of the low-priority tower cranes is reduced, allowing the low-priority tower cranes to actively avoid the collision, thus reserving more working space for the high-priority tower cranes. This reduces conflicts while minimizing the impact on tower crane operations.

[0126] In this embodiment, by determining the priorities of multiple tower cranes corresponding to overlapping target dynamic safety envelopes, it is possible to decide which tower cranes' dynamic safety envelopes need to be contracted based on their priorities. After the dynamic safety envelopes of low-priority tower cranes are contracted, not only can the overlapping area between tower cranes be reduced, thus lowering the risk of collision, but also the high-priority tower cranes can complete their work tasks within their original dynamic safety envelopes without needing to stop operating to avoid collisions. This allows tower cranes to work more flexibly and collaboratively in complex working environments, reducing work interruptions caused by safety avoidance and improving the efficiency of construction site operations.

[0127] The intelligent tower crane adaptive safety envelope planning and dynamic avoidance method provided in this application embodiment can be implemented by an intelligent tower crane adaptive safety envelope planning and dynamic avoidance device. This application embodiment uses the intelligent tower crane adaptive safety envelope planning and dynamic avoidance device executing the intelligent tower crane adaptive safety envelope planning and dynamic avoidance method as an example to illustrate the intelligent tower crane adaptive safety envelope planning and dynamic avoidance device provided in this application embodiment.

[0128] This application also provides an intelligent tower crane adaptive safety envelope planning and dynamic avoidance device.

[0129] like Figure 2 As shown, the intelligent tower crane adaptive safety envelope planning and dynamic avoidance device includes: The acquisition module 210 is used to acquire the operating status parameters of each tower crane on the construction site; Mapping module 220 is used to map each tower crane to a digital twin environment based on operating status parameters; The generation module 230 is used to generate dynamic safety envelopes for each tower crane based on operating status parameters in a digital twin environment. The monitoring module 240 is used to monitor the overlap between various dynamic safety envelopes. When the overlap between dynamic safety envelopes meets the preset conditions, the target dynamic safety envelope with overlap is shrunk. Planning module 250 is used to plan the motion path of the tower crane corresponding to the target dynamic safety envelope under the constraints of the contracted target dynamic safety envelope.

[0130] The intelligent tower crane adaptive safety envelope planning and dynamic avoidance device of this application acquires the operating status parameters of each tower crane on the construction site; maps each tower crane to a digital twin environment based on the operating status parameters; generates a dynamic safety envelope for each tower crane based on the operating status parameters in the digital twin environment; monitors the overlap between the dynamic safety envelopes; and, when the overlap between the dynamic safety envelopes meets preset conditions, shrinks the overlapping target dynamic safety envelope; and, under the constraint of the shrunken target dynamic safety envelope, plans the movement path of the tower crane corresponding to the target dynamic safety envelope. This embodiment of the application uses the dynamically generated and real-time updated dynamic safety envelope, mapped to the digital twin environment, as a three-dimensional spatial constraint for tower crane movement. During tower crane movement, the overlap of dynamic safety envelopes is continuously evaluated to predict collision risks. When the overlap meets preset conditions, the target dynamic safety envelope is shrunken in a timely manner, and the tower crane path is replanned for avoidance. This enables accurate and rapid control of the safe distance between tower cranes, reducing collisions or operational interference caused by path overlap or scheduling conflicts, reducing the risk of construction site accidents, and improving construction site operation efficiency.

[0131] In some embodiments, the mapping module 220 is further configured to: Construct a 3D model of the construction site; Import the 3D model into the digital twin environment and update the motion state of each tower crane object in the 3D model according to the running status parameters.

[0132] In some embodiments, the generation module 230 is further configured to: The range of motion of the tower crane under different motion states is determined based on the dynamic model of the tower crane; An initial safety envelope for the tower crane is generated based on its range of motion; the initial safety envelope covers the range of motion of the tower crane under different motion states. The boundaries of the initial safety envelope are adjusted based on the operating status parameters and obstacles on the construction site to obtain the dynamic safety envelope of the tower crane.

[0133] In some embodiments, the generation module 230 is further configured to: Obtain the movement trajectory of the tower crane; If the tower crane's trajectory exceeds its dynamic safety envelope, the tower crane's movement path is corrected to bring it back within its dynamic safety envelope.

[0134] In some embodiments, the monitoring module 240 is further configured to: Calculate the overlap volume of the dynamic safety envelopes when there is overlap between them; If the overlapping volume exceeds the target threshold, the preset conditions are determined to be met.

[0135] In some embodiments, the monitoring module 240 is further configured to: Locking dynamic safety envelopes of overlapping targets in a digital twin environment; Extract the three-dimensional coordinate boundary data of the target's dynamic safety envelope; The overlapping volume is obtained by performing intersection operations on the target's dynamic safety envelope based on the three-dimensional coordinate boundary data.

[0136] In some embodiments, the monitoring module 240 is further configured to: Determine the priority of multiple tower cranes corresponding to overlapping target dynamic safety envelopes; Shrink the target dynamic safety envelope for low-priority tower cranes.

[0137] In some embodiments, the monitoring module 240 is further configured to: Shrink the boundary of the target dynamic safety envelope, reduce the radius of the target dynamic safety envelope, or adjust the shape of the dynamic safety envelope so that the shrunken target dynamic safety envelope no longer overlaps, or the overlapping volume is less than or equal to the target threshold.

[0138] The intelligent tower crane adaptive safety envelope planning and dynamic avoidance device in this application embodiment can be an electronic device or a component within an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices besides a terminal. For example, the electronic device can be a mobile phone, tablet computer, laptop computer, PDA, in-vehicle electronic device, mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc. It can also be a server, network attached storage (NAS), personal computer (PC), television (TV), ATM, or self-service machine, etc. This application embodiment does not specifically limit the specific implementation.

[0139] The intelligent tower crane adaptive safety envelope planning and dynamic avoidance device in this application embodiment can be a device with an operating system. This operating system can be a Microsoft (Windows) operating system, an Android operating system, an iOS operating system, or other possible operating systems; this application embodiment does not specifically limit it.

[0140] In some embodiments, such as Figure 3 As shown, this application embodiment also provides an electronic device 300, including a processor 301, a memory 302, and a computer program stored in the memory 302 and executable on the processor 301. When the program is executed by the processor 301, it implements the various processes of the above-described intelligent tower crane adaptive safety envelope planning and dynamic avoidance method embodiment and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0141] It should be noted that the electronic devices in the embodiments of this application include the aforementioned mobile electronic devices and non-mobile electronic devices.

[0142] This application also provides a non-transitory computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes of the above-described intelligent tower crane adaptive safety envelope planning and dynamic avoidance method embodiments and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0143] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0144] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described intelligent tower crane adaptive safety envelope planning and dynamic avoidance method.

[0145] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0146] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled. The processor is used to run programs or instructions to implement the various processes of the above-described intelligent tower crane adaptive safety envelope planning and dynamic avoidance method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0147] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0148] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0149] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0150] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

[0151] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0152] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A method for adaptive safety envelope planning and dynamic obstacle avoidance for intelligent tower cranes, characterized in that, include: Obtain the operating status parameters of each tower crane on the construction site; Based on the aforementioned operating status parameters, each tower crane is mapped to a digital twin environment; In the digital twin environment, a dynamic safety envelope is generated for each of the tower cranes based on the operating status parameters; Monitor the overlap between the dynamic security envelopes, and shrink the target dynamic security envelopes that have overlap if the overlap between the dynamic security envelopes meets the preset conditions. Under the constraints of the contracted target dynamic safety envelope, the motion path of the tower crane corresponding to the target dynamic safety envelope is planned.

2. The method according to claim 1, characterized in that, The dynamic safety envelope is a three-dimensional space that constrains the movement of the tower crane.

3. The method according to claim 1, characterized in that, The operating status parameters include at least one of the following: tower crane posture, hook position, boom angle, movement speed, load mass, and wind speed and direction; The process of mapping each tower crane to a digital twin environment based on the operating status parameters includes: Construct a three-dimensional model of the construction site; The 3D model is imported into the digital twin environment, and the motion state of each tower crane object in the 3D model is updated according to the running status parameters.

4. The method according to claim 1, characterized in that, The generation of the dynamic safety envelope for each tower crane based on the operating status parameters includes: The range of motion of the tower crane under different motion states is determined based on the dynamic model of the tower crane; An initial safety envelope for the tower crane is generated based on the range of motion; the initial safety envelope covers the range of motion of the tower crane under different motion states; The boundary of the initial safety envelope is adjusted based on the operating status parameters and obstacles in the construction site to obtain the dynamic safety envelope of the tower crane.

5. The method according to claim 4, characterized in that, The method further includes: Obtain the movement trajectory of the tower crane; If the movement trajectory of the tower crane exceeds the dynamic safety envelope of the tower crane, the movement path of the tower crane is corrected so that the tower crane is within the dynamic safety envelope of the tower crane.

6. The method according to claim 1, characterized in that, A method for determining whether the overlap between the dynamic security envelopes satisfies a preset condition includes: In the case of overlap between the various dynamic security envelopes, calculate the overlap volume of the dynamic security envelopes; If the overlapping volume exceeds the target threshold, the preset condition is determined to be met.

7. The method according to claim 6, characterized in that, The calculation of the overlap volume of the dynamic safety envelope includes: In the digital twin environment, lock the dynamic security envelope of overlapping targets; Extract the three-dimensional coordinate boundary data of the target's dynamic safety envelope; The intersection operation is performed on the target dynamic safety envelope based on the three-dimensional coordinate boundary data to obtain the overlapping volume.

8. The method according to claim 1, characterized in that, The shrinking of the dynamic safety envelope of overlapping targets includes: Determine the priority of multiple tower cranes corresponding to overlapping target dynamic safety envelopes; The target dynamic safety envelope of the tower crane with low priority is contracted.

9. The method according to claim 1, characterized in that, The shrinking of the dynamic safety envelope of overlapping targets includes: Shrink the boundary of the target dynamic security envelope, reduce the radius of the target dynamic security envelope, or adjust the shape of the dynamic security envelope so that the shrunken target dynamic security envelope no longer overlaps, or the overlap volume is less than or equal to the target threshold.

10. A smart tower crane adaptive safety envelope planning and dynamic avoidance device, characterized in that, include: The acquisition module is used to acquire the operating status parameters of each tower crane on the construction site; The mapping module is used to map each of the tower cranes to a digital twin environment based on the operating status parameters; A generation module is used to generate dynamic safety envelopes for each of the tower cranes based on the operating status parameters in the digital twin environment. The monitoring module is used to monitor the overlap between the dynamic security envelopes. When the overlap between the dynamic security envelopes meets the preset conditions, the target dynamic security envelopes with overlap are shrunk. The planning module is used to plan the motion path of the tower crane corresponding to the target dynamic safety envelope under the constraints of the contracted target dynamic safety envelope.

11. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the method as described in any one of claims 1-9.

12. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1-9.

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