Unmanned tower crane group hoisting operation monitoring method based on BIM visualization

Abstract

The invention discloses an unmanned tower crane group hoisting operation monitoring method based on BIM visualization, and the method comprises the following steps: a ground master control cockpit operates a tower crane control system, the tower crane control system divides a control instruction into two identical instructions, one instruction is input into an unmanned cockpit of an unmanned tower crane so as to control the motion operation of a big arm of the unmanned tower crane, and the other instruction is input into an unmanned cockpit of the unmanned tower crane; the other control instruction is input into a tower crane coverage area partition BIM model, calculation conversion is conducted on the control instruction, and the motion state of the big arm of the tower crane is obtained and displayed on a BIM model visualization system; and the tower crane coverage area partition BIM model performs non-prompting and prompting according to the condition that the tower crane big arms are in the non-intersection area or a single tower crane big arm is in the intersection area, and performs early warning or alarming according to the condition that the double tower crane big arms are greater than the safety distance or not greater than the safety distance in the intersection area. The method has the beneficial effects that the linkage control of the unmanned tower crane and the remote ground master control cockpit is realized by utilizing the BIM visualization function, and the collision prevention of the tower crane is ensured.

Description

Technical Field

[0001] This application belongs to the field of tower crane operation technology, specifically relating to a monitoring method for unmanned tower crane group hoisting operations based on BIM visualization. Background Technology

[0002] Tower cranes, also known as hydraulic self-erecting tower cranes, are essential vertical transportation equipment used on construction sites for transporting construction materials and supplies. For a long time, tower crane operators have had to climb tens of meters into the air to operate the cranes. Tower crane operation is considered a special type of work in the construction industry, a high-risk profession with an accident fatality rate as high as 90%. A tower crane collision can endanger the operator's life. With urbanization, modern construction projects are becoming increasingly dense and clustered. In complex construction environments, coordinated operation of tower crane groups has become the norm, but it also brings serious safety challenges. When tower crane groups operate simultaneously, collisions between tower cranes or between tower cranes and surrounding buildings are prone to occur due to overlapping operating radii, obstructed vision, or insufficient coordination. Traditional tower crane systems rely on operators working at height and ground personnel directing operations, which suffers from blind spots, communication errors, and fatigue, making accurate judgment and real-time response difficult. Existing tower crane systems lack integrated intelligent monitoring and early warning mechanisms, making them unsuitable for high-density, dynamically changing construction environments. Technological upgrades are urgently needed to achieve unmanned and automated operation.

[0003] With the development of autonomous driving technology, tower crane operators can now perform unmanned operations on the ground, but this also presents some challenges. While tower crane operators remotely control the cranes from the ground, they lack a direct understanding of the operational status of the unmanned tower crane group. The conventional method is to deploy video surveillance to monitor the entire crane group, but this video surveillance cannot clearly show the position and height of each crane's boom. Furthermore, the data from the collision avoidance sensors deployed on the unmanned tower cranes is transmitted to the ground control cab, but there is a lack of effective visual monitoring methods, making it difficult to determine the overlap range between adjacent tower crane booms using on-site video surveillance.

[0004] Therefore, there is an urgent need for technical analysis of tower crane operating principles, path planning, and intelligent obstacle avoidance scenarios. By utilizing the visualization features of BIM technology, a collision prevention monitoring system for unmanned tower crane groups that integrates real-time monitoring, intelligent early warning, and visualized management and control can be invented to improve construction safety and efficiency and promote the development of new productivity in the tower crane industry. Summary of the Invention

[0005] The purpose of this application is to provide a BIM-based visualization-based monitoring method for unmanned tower crane group hoisting operations, which solves the problem of frequent accidents in manual tower crane operations.

[0006] The objective of this application is achieved through the following technical solution: A method for monitoring unmanned tower crane group hoisting operations based on BIM visualization includes the following steps: Step S1: Deploy a group of unmanned tower cranes; Step S2: Based on the unmanned tower crane group, establish a BIM model of the tower crane coverage area, and divide the tower crane boom coverage area into overlapping areas and non-overlapping areas. Step S3: Connect the BIM model of the tower crane coverage area to the BIM model visualization system in the ground main control cab; Step S4: The ground main control cab operates the tower crane control system. The tower crane control system divides the control commands into two identical lines. One line is input into the unmanned cab of the unmanned tower crane to control the movement of the unmanned tower crane boom. The other line is input into the BIM model of the tower crane coverage area. By calculating and converting the control commands, the movement state of the tower crane boom is obtained and displayed on the BIM model visualization system. Step S5: The BIM model of the tower crane coverage area provides non-prompt and prompt information based on whether the tower crane boom is in a non-intersecting area or a single boom is in an intersecting area. It also provides early warning or alarm based on whether two tower crane booms are in an intersecting area and the distance is greater than or less than the safe distance.

[0007] Furthermore, in S1, an unmanned tower crane group is arranged according to the building construction plan.

[0008] Furthermore, in S1, the unmanned tower crane's driver's cab is connected to the tower crane control system in the ground main control cab.

[0009] Furthermore, in S1, a tower crane monitoring system is installed on the unmanned tower crane, and the tower crane monitoring system is connected to the tower crane operation display system in the ground main control cab.

[0010] Furthermore, in S2, the coverage area of ​​the tower crane boom is divided into zones based on the rotation angle of the tower crane boom.

[0011] Furthermore, in S5, when the tower crane boom is in a non-intersecting area, the non-intersecting area is displayed as green on the BIM model visualization system.

[0012] Furthermore, in S5, when a single tower crane boom is in an intersection area, the intersection area is displayed as orange on the BIM model visualization system.

[0013] Furthermore, in S5, when the two tower crane booms are in the intersection area and the distance between the two tower crane booms is greater than the safety distance, the intersection area is displayed as light red on the BIM model visualization system.

[0014] Further, in S5, when the jibs of two tower cranes are in the crossing area and the distance between the jibs of the two tower cranes is not greater than the safe distance, the crossing area is displayed in dark red and flashing on the BIM model visualization system, and at the same time, an audible and visual alarm is used for reminder.

[0015] Further, in S5, when the jibs of two tower cranes are in the crossing area and the distance between the jibs of the two tower cranes is not greater than the safe distance, the tower crane coverage area partition BIM model feeds back signals to the ground main control cockpit to operate the tower crane control system, and the speed of the two unmanned tower cranes is limited or they are stopped urgently.

[0016] Advantages of the present application: 1. Utilize the BIM visualization function to achieve the linkage control between the unmanned tower crane and the remote ground main control cockpit, ensuring the anti-collision of the tower crane.

[0017] 2. It helps to solve the problem that it is difficult to judge the crossing range of the jibs of two adjacent tower cranes in on-site video monitoring.

[0018] 3. Through the technical means of BIM visualization monitoring, avoid the tower crane collision caused by unclear signals and unclear instructions caused by human factors on site, and ensure the construction safety.

[0019] The main solution of the present application and its various further selection solutions can be freely combined to form multiple solutions, all of which are the solutions that can be adopted and claimed in the present application; and in the present application, (each non-conflicting selection) can be freely combined between selections and with other selections. Those skilled in the art can understand that there are multiple combinations according to the prior art and common knowledge after understanding the solution of the present application, all of which are the technical solutions to be protected in the present application, and will not be enumerated here. Brief Description of the Drawings

[0020] Figure 1 It is a flow schematic diagram of the present application.

[0021] Figure 2 It is a schematic diagram of the tower crane coverage area partition BIM model of the present application.

[0022] Figure 3 It is a schematic diagram of the BIM model visualization system of the present application. Detailed Embodiments

[0023] The following non-restrictive embodiments are used to illustrate the present application.

[0024] Embodiment 1 Reference Figures 1-3As shown, a BIM-based visualization-based monitoring method for unmanned tower crane group hoisting operations is proposed, which employs unmanned tower cranes, unmanned cabs, tower crane monitoring systems, ground main control cabs, tower crane control systems, tower crane operation display systems, BIM model visualization systems, and BIM models of tower crane coverage areas (0°~360°) zones.

[0025] Control commands are sent from the ground-based main control cab to the unmanned control cab high above the tower crane to operate the unmanned tower crane. Simultaneously, control commands are sent to the BIM model of the tower crane's coverage area. The model converts the signals into data and transmits it to the BIM model visualization system (display), enabling the coordinated control of the two systems with the same signal. An auxiliary tower crane monitoring system (cameras and sensors) in the unmanned control cab visualizes the operational status of the tower crane group through the tower crane operation display system (display) in the ground-based main control cab, ensuring that the tower crane boom rotation angle is consistent with the BIM visualization system, thus achieving management of the entire tower crane group.

[0026] The method includes the following steps: Step S1, deploying a group of unmanned tower cranes, specifically according to the construction plan. The unmanned operator's cabin of each unmanned tower crane is connected to the tower crane control system in the ground-based main control cabin. A tower crane monitoring system is installed on each unmanned tower crane, and the tower crane monitoring system is connected to the tower crane operation display system in the ground-based main control cabin.

[0027] Step S2: Based on the unmanned tower crane group, establish a BIM model of the tower crane coverage area, dividing the tower crane boom coverage area into overlapping and non-overlapping areas. Specifically, the zoning of the tower crane boom coverage area is based on the rotation angle of the tower crane boom.

[0028] Step S3: Connect the BIM model of the tower crane coverage area to the BIM model visualization system in the ground main control cab.

[0029] Step S4: The ground main control cab operates the tower crane control system. The tower crane control system divides the control commands into two identical lines. One line is input into the unmanned cab of the unmanned tower crane to control the movement of the unmanned tower crane boom. The other line is input into the BIM model of the tower crane coverage area. By calculating and converting the control commands, the movement state of the tower crane boom is obtained and displayed on the BIM model visualization system.

[0030] Step S5: The BIM model of the tower crane coverage area provides non-prompt and prompt information based on whether the tower crane boom is in a non-intersecting area or a single boom is in an intersecting area. It also provides early warning or alarm based on whether two tower crane booms are in an intersecting area and the distance is greater than or less than the safe distance.

[0031] Non-indication operation: When the tower crane boom is in a non-intersecting area, that is, when the angle of the tower crane boom enters the non-intersecting angle range, the non-intersecting area will be displayed as green on the BIM model visualization system, indicating safe operation.

[0032] Operational Tip: When a single tower crane boom is in the intersection area, that is, when the angle of the boom of a single tower crane enters the intersection angle range, the intersection area will be displayed as orange on the BIM model visualization system, indicating safe operation, but the position of adjacent tower cranes needs to be monitored at all times.

[0033] Warning Operation: When the booms of both tower cranes are in an intersecting area (i.e., both boom angles are outside the intersecting range, and the distance between the booms is greater than the safe distance), the intersecting area will be displayed as light red on the BIM model visualization system. Close observation of the other crane's operating status is required. In this situation, the minimum distance detection module needs to be activated to determine the distance between the two booms.

[0034] Alarm Warning: When both tower crane booms are in an intersecting area (i.e., both boom angles are outside the intersecting range, and the distance between them is not greater than the safe distance), the BIM model visualization system will display this intersecting area as dark red and flashing, and an audible and visual alarm will be activated. This alerts operators that both booms are in the intersecting area and very close together, requiring them to stop work to prevent a collision.

[0035] When the booms of two tower cranes are in an intersecting area, and the distance between the booms of the two tower cranes is no greater than the safe distance, the BIM model of the tower crane coverage area feeds back signals to the ground main control cab to operate the tower crane control system, and limits the speed or stops the two unmanned tower cranes.

[0036] When the tower crane group is operating, the ground operators monitor the BIM model visualization system and input the tower crane signals they control into the BIM model in real time to monitor the working status of the entire project's tower crane group.

[0037] Case 1 refer to Figures 1-3 As shown, a BIM-based visualization-based monitoring method for unmanned tower crane group hoisting operations is proposed, based on Example 1, which deploys six unmanned tower cranes (A, B, C, D, E, F) for operations.

[0038] Non-instructional operation: The booms of all unmanned tower cranes are within the green angle range, and the tower cranes are operating normally.

[0039] Task prompt: The boom of the unmanned tower crane B has moved to the orange zone, and the BIM model visualization system displays the orange status. The unmanned tower crane B needs to pay attention to the operating status of cranes A, C, D, and E.

[0040] Warning operation: The booms of unmanned tower cranes C and F simultaneously move into the orange zone. The BIM model visualization system displays a light red status, indicating that these two adjacent tower cranes are in a dangerous operation zone, and the algorithm for automatically solving the minimum planar distance between adjacent tower cranes is activated.

[0041] Alarm Operation: When both tower cranes D and F are operating in the orange zone, the BIM model visualization system displays a light red status. The algorithm for automatically calculating the minimum planar distance between adjacent tower cranes is activated. If the calculated distance is within the safe relative distance between the tower cranes, the BIM model visualization system screen displays a dark red, alerting the operators via audible and visual signals. If the calculated distance is less than the safe relative distance between the tower cranes, the BIM model visualization system screen displays a dark red and flashes, triggering the emergency braking system. Both tower cranes quickly respond and stop operation, achieving unmanned tower crane collision avoidance.

[0042] The foregoing basic examples and their further alternative examples can be freely combined to form multiple embodiments, all of which are embodiments that can be adopted and claimed in this application. In the scheme of this application, each alternative example can be arbitrarily combined with any other basic example and alternative example.

[0043] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for monitoring unmanned tower crane group hoisting operations based on BIM visualization, characterized in that, Includes the following steps: Step S1: Deploy a group of unmanned tower cranes; Step S2: Based on the unmanned tower crane group, establish a BIM model of the tower crane coverage area, and divide the tower crane boom coverage area into overlapping areas and non-overlapping areas. Step S3: Connect the BIM model of the tower crane coverage area to the BIM model visualization system in the ground main control cab; Step S4: The ground main control cab operates the tower crane control system. The tower crane control system divides the control commands into two identical lines. One line is input into the unmanned cab of the unmanned tower crane to control the movement of the unmanned tower crane boom. The other line is input into the BIM model of the tower crane coverage area. By calculating and converting the control commands, the movement state of the tower crane boom is obtained and displayed on the BIM model visualization system. Step S5: The BIM model of the tower crane coverage area provides non-prompt and prompt information based on whether the tower crane boom is in a non-intersecting area or a single boom is in an intersecting area. It also provides early warning or alarm based on whether two tower crane booms are in an intersecting area and the distance is greater than or less than the safe distance.

2. The monitoring method for unmanned tower crane group hoisting operations based on BIM visualization according to claim 1, characterized in that: S1, as mentioned above, involves arranging a group of unmanned tower cranes according to the building construction plan.

3. The monitoring method for unmanned tower crane group hoisting operations based on BIM visualization according to claim 1, characterized in that: In S1, the unmanned tower crane's driver's cab is connected to the tower crane control system in the ground main control cab.

4. The monitoring method for unmanned tower crane group hoisting operations based on BIM visualization according to claim 1 or 3, characterized in that: S1, as mentioned above, involves installing a tower crane monitoring system on the unmanned tower crane, which is connected to the tower crane operation display system in the ground main control cab.

5. The monitoring method for unmanned tower crane group hoisting operations based on BIM visualization according to claim 1, characterized in that: S2, as described above, divides the coverage area of ​​the tower crane boom into zones based on the rotation angle of the tower crane boom.

6. The monitoring method for unmanned tower crane group hoisting operations based on BIM visualization according to claim 1, characterized in that: In S5, when the tower crane boom is in a non-intersecting area, the non-intersecting area is displayed as green on the BIM model visualization system.

7. The monitoring method for unmanned tower crane group hoisting operations based on BIM visualization according to claim 1 or 6, characterized in that: In S5, when a single tower crane boom is in an intersection area, the intersection area is displayed as orange on the BIM model visualization system.

8. The monitoring method for unmanned tower crane group hoisting operations based on BIM visualization according to claim 1, characterized in that: In S5, when the booms of the two tower cranes are in the intersection area and the distance between the booms of the two tower cranes is greater than the safety distance, the intersection area is displayed as light red on the BIM model visualization system.

9. The monitoring method for unmanned tower crane group hoisting operations based on BIM visualization according to claim 1 or 8, characterized in that: In S5, when the booms of the two tower cranes are in the intersection area, and the distance between the booms of the two tower cranes is not greater than the safe distance, the intersection area is displayed as dark red and flashing on the BIM model visualization system, and an audible and visual alarm is triggered to provide a reminder.

10. The monitoring method for unmanned tower crane group hoisting operations based on BIM visualization according to claim 9, characterized in that: In S5, when the booms of the two tower cranes are in the intersecting area and the distance between the booms of the two tower cranes is not greater than the safe distance, the BIM model of the tower crane coverage area feeds back the signal to the ground main control cab to operate the tower crane control system, and limits the speed or stops the two unmanned tower cranes.

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