A tower crane cluster operation state intelligent perception and scheduling auxiliary decision system and method

Abstract

This application discloses an intelligent sensing and scheduling auxiliary decision-making system and method for the operating status of a tower crane cluster. The method includes: confirming the operating status of the tower cranes based on current signals, weight signals, and motion signals; when the current signal indicates the motor is energized, the weight signal indicates the hook is unloaded, and the motion signal indicates the hook is stationary, the operating status is an idle waiting state; when the number of idle tower cranes is greater than or equal to a preset idle lower limit threshold, the load mode of the tower crane cluster is confirmed to be an idle mode; after confirming the load mode as an idle mode, the expected load of each tower crane in a preset future time period is calculated, and based on the expected load status of each tower crane, the tower cranes to be adjusted are identified, and a scheduling suggestion scheme is generated to make the expected load of each tower crane tend to be balanced in the subsequent time period. This application can accurately identify the idle waiting state of tower cranes and proactively generate scheduling suggestions before idle waiting occurs, achieving accurate identification and predictive scheduling of idle waiting.

Description

Technical Field

[0001] This application relates to the field of construction machinery scheduling and intelligent auxiliary decision-making technology, specifically to a system and method for intelligent perception and scheduling auxiliary decision-making of tower crane cluster operation status. Background Technology

[0002] With the rapid development of prefabricated and steel structure buildings, multi-tower crane cluster collaborative operations have become the norm on high-rise building construction sites. In projects such as steel structure apartments, multiple tower cranes are typically deployed simultaneously, with each crane working collaboratively across different work areas to complete the hoisting of a large number of components. As the core vertical transportation equipment on construction sites, the operating efficiency of tower cranes directly affects construction progress and energy consumption levels.

[0003] In existing technologies, both load-based tower crane control schemes and those using total unloaded distance as the optimization target only distinguish between loaded and unloaded states, failing to differentiate between unloaded return and unloaded waiting, thus making effective management of unloaded tower cranes impossible. However, in the unloaded state, tower cranes exhibit two fundamentally different operating conditions: unloaded return, where the tower crane is moving but not carrying a load, representing a necessary journey back to the pickup point after completing the lifting operation; and unloaded waiting, where the tower crane has neither a load nor any movement, but the motor remains energized, continuously consuming electrical energy without generating effective work. Furthermore, tower crane scheduling and optimization rely on finding available tower cranes after a task is assigned, resulting in a fundamental lag and significant waiting time.

[0004] The aforementioned problems prevent the existing system from accurately identifying and predictively scheduling idle waiting conditions. Summary of the Invention

[0005] This application aims to propose an intelligent perception and scheduling auxiliary decision-making system and method for the operation status of tower crane clusters. By further distinguishing the unloaded state of tower cranes into unloaded return and unloaded waiting, and proactively generating scheduling suggestions before unloaded waiting occurs, the system achieves accurate identification and predictive scheduling of unloaded waiting, thus solving the problems of the inability to identify unloaded waiting and the passive lag in scheduling mode in existing tower crane scheduling.

[0006] To achieve the above objectives, this application provides an intelligent sensing and scheduling auxiliary decision-making system for the operating status of a tower crane cluster, comprising: a status sensing layer, configured to confirm the operating status of the tower cranes based on current signals representing motor energization / de-energization, weight signals representing hook loading / unloading, and motion signals representing hook movement / stationary; when the current signal indicates motor energization, the weight signal indicates hook unloading, and the motion signal indicates hook stationary, the operating status is an idle waiting state; a cluster analysis layer, configured to confirm that the load mode of the tower crane cluster is an idle mode when the number of idle tower cranes is greater than or equal to a preset idle lower limit threshold; an idle tower crane refers to a tower crane whose cumulative operating time in the idle waiting state exceeds a preset time threshold within a unit of time; and a prediction and suggestion layer. Configured to generate a scheduling suggestion scheme and provide it to the user after the cluster analysis layer confirms that the load mode is an idle mode, according to the following steps: calculate the expected load of each tower crane; the expected load is the sum of the weights of all lifting components that each tower crane plans to bear in a future preset time period, calculated based on the planned scheduling scheme and the lifting completion status of each lifting component; identify the tower crane to be adjusted; the tower crane to be adjusted is the tower crane whose expected load is higher than a preset load upper limit threshold; identify the lifting component to be transferred; the lifting component to be transferred is the lifting component whose expected load exceeds the load upper limit threshold of each tower crane; identify the target tower crane and generate a scheduling suggestion scheme to transfer the lifting component to be transferred from the tower crane to be adjusted to the target tower crane; the target tower crane is the tower crane used to bear the lifting component to be transferred.

[0007] In some embodiments of the present invention, the operating states further include an off-state, a heavy-load lifting state, a heavy-load slewing or luffing state, a heavy-load hovering / pausing state, and an unloaded return state; wherein, the action signal characterizing the hook movement is used to characterize the current action of the hook as a lifting action, a slewing action, or a luffing action; when the current signal characterizes that the motor is de-energized, the operating state is an off-state; when the current signal characterizes that the motor is energized, the weight signal characterizes that the hook is loaded, and the action signal characterizes that the hook is lifting, the operating state is a heavy-load lifting state ... loading, and the action signal characterizes that the hook is lifting, the operating state is a heavy-load lifting state; when the current signal characterizes that the motor is energized, the weight signal characterizes that the hook is loading, and the action signal characterizes that the hook is lifting, the operating state is a heavy-load lifting state; when the current signal characterizes that the motor is energized, the weight signal characterizes that the hook is loading, and the action signal characterizes that the hook is lifting, the operating state is a heavy-load lifting state; when the current signal characterizes that the motor is energized, the weight signal characterizes that When the hook is under load and the action signal indicates that the hook is rotating or luffing, the operating state is heavy-load rotation or luffing state; when the current signal indicates that the motor is energized, the weight signal indicates that the hook is under load, and the action signal indicates that the hook is stationary, the operating state is heavy-load hovering / pausing state; when the duration of the heavy-load hovering / pausing state exceeds the preset fault duration, the user is notified of a fault; when the current signal indicates that the motor is energized, the weight signal indicates that the hook is unloaded, and the action signal indicates that the hook is lifting, rotating, or luffing, the operating state is no-load return state.

[0008] In some embodiments of the present invention, before calculating the expected load of each tower crane, the prediction and suggestion layer further includes identifying the reasons for vacancy: if there are no components to be hoisted in the coverage area of ​​the vacant tower crane, the generation of a scheduling suggestion scheme is not triggered; if the components to be hoisted in the coverage area of ​​the vacant tower crane are not assigned to the vacant tower crane, the generation of a scheduling suggestion scheme is triggered.

[0009] In some embodiments of the present invention, after calculating the expected load of each tower crane and before confirming whether a tower crane needs adjustment, the prediction and suggestion layer further includes determining the expected load status of each tower crane, including: when the expected load of a tower crane is higher than the upper load threshold, the expected load status of the tower crane is heavy load, and the tower crane is a heavy load tower crane; when the expected load of a tower crane is lower than the lower load threshold, the expected load status of the tower crane is light load, and the tower crane is a light load tower crane; when the expected load of a tower crane is not higher than the upper load threshold and not lower than the lower load threshold, the expected load status of the tower crane is balanced load, and the tower crane is a balanced load tower crane; confirming the tower crane to be adjusted further includes confirming the heavy load tower crane as the tower crane to be adjusted; confirming the target tower crane includes: from the light load tower crane and the balanced load tower crane, confirming the tower crane that can bear the lifting component to be transferred, and the total weight of the lifting component to be transferred is less than or equal to the remaining load of the target tower crane; the remaining load is the difference between the upper load threshold and the expected load of the tower crane.

[0010] In some embodiments of the present invention, the priority order of the target tower cranes is as follows: First priority, a light-load tower crane that meets the transfer requirements of all components to be transferred and has the lowest expected load, wherein the total weight of the components to be transferred is less than or equal to the remaining load of the light-load tower crane; Second priority, a balanced-load tower crane that meets the transfer requirements of all components to be transferred and has the lowest expected load, wherein the total weight of the components to be transferred is less than or equal to the remaining load of the balanced-load tower crane; Third priority, at least two tower cranes are selected in order of expected load from low to high to form a first combination target tower crane, wherein the coverage area of ​​each tower crane in the first combination target tower crane covers the coordinates of all components to be transferred, and the sum of the remaining loads of each tower crane in the first combination target tower crane is greater than or equal to the total weight of the components to be transferred; Four priorities are established: light-load and balanced-load tower cranes with coverage areas capable of covering the coordinates of the component to be transferred, and at least one additional light-load and balanced-load tower crane, which are combined to form a second set of target tower cranes. The sum of the remaining loads of all tower cranes in the second set of target tower cranes is greater than or equal to the total weight of the component to be transferred. Simultaneously, the coverage area of ​​any tower crane in the second set of target tower cranes overlaps with the coverage area of ​​at least one other tower crane. Any transfer within the second set of target tower cranes satisfies the transfer requirements of a single component to be transferred. The single transfer requirements for the component to be transferred are: coverage requirement (the coordinates of the component to be transferred are within the coverage area of ​​the target tower crane); and load requirement (the weight of the component to be transferred is less than or equal to the rated weight of the target tower crane).

[0011] In some embodiments of the present invention, a closed-loop recording layer is also included, which is configured to at least record the scheduling suggestion scheme and whether it is actually executed; if executed, record the change in the number of idle waiting tower cranes after execution; if not executed, record the reason for not executing.

[0012] In some embodiments of the present invention, when the number of unloaded tower cranes is less than or equal to a preset lower unload threshold, the load mode is a normal mode; the unload mode also includes a single-machine unload mode and a cluster unload mode; when the number of unloaded tower cranes is greater than the lower unload threshold and less than or equal to a preset upper unload threshold, the unload mode is a single-machine unload mode; when the number of unloaded tower cranes is greater than the upper unload threshold, the unload mode is a cluster unload mode; if the unload mode is a cluster unload mode, the closed-loop recording layer also needs to record that the scheduling suggestion scheme is triggered by the cluster unload mode, so that the user can confirm that a systemic imbalance has occurred in this scheduling plan scheme.

[0013] This application also provides a method for intelligent perception and scheduling auxiliary decision-making of tower crane cluster operation status, implemented through the system described above, including: Status perception step: Based on the current signal representing motor energization / de-energization, the weight signal representing hook loading / unloading, and the action signal representing hook movement / stationary motion, the operating status of the tower crane is confirmed; when the current signal indicates motor energization, the weight signal indicates hook unloading, and the action signal indicates hook stationary, the operating status is an idle waiting state; Cluster analysis step: When the number of idle tower cranes is greater than or equal to a preset idle lower limit threshold, the load mode of the tower crane cluster is confirmed to be an idle mode; an idle tower crane refers to a tower crane whose cumulative operating time in the idle waiting state exceeds a preset time threshold within a unit of time; Prediction and suggestion step: After confirming the load mode as an idle mode in the cluster analysis step, a scheduling suggestion scheme is generated and provided to the user according to the following steps to balance the expected load of each tower crane in subsequent periods: Calculate the expected load of each tower crane; the expected load is the sum of the weights of all lifting components that each tower crane plans to bear in a future preset period, calculated based on the planned scheduling scheme and the lifting completion status of each lifting component; Identify the tower crane to be adjusted; the tower crane to be adjusted is the tower crane whose expected load is higher than a preset load upper limit threshold; Identify the lifting component to be transferred; the lifting component to be transferred is the lifting component whose expected load exceeds the load upper limit threshold of each tower crane; Identify the target tower crane and generate a scheduling suggestion scheme to transfer the lifting component to be transferred from the tower crane to be adjusted to the target tower crane; the target tower crane is the tower crane used to bear the lifting component to be transferred.

[0014] In some embodiments of the present invention, the operating states further include an off-state, a heavy-load lifting state, a heavy-load slewing or luffing state, a heavy-load hovering / pausing state, and an unloaded return state; wherein, the action signal characterizing the hook movement is used to characterize the current action of the hook as a lifting action, a slewing action, or a luffing action; when the current signal characterizes that the motor is de-energized, the operating state is an off-state; when the current signal characterizes that the motor is energized, the weight signal characterizes that the hook is loaded, and the action signal characterizes that the hook is lifting, the operating state is a heavy-load lifting state ... loading, and the action signal characterizes that the hook is lifting, the operating state is a heavy-load lifting state; when the current signal characterizes that the motor is energized, the weight signal characterizes that the hook is loading, and the action signal characterizes that the hook is lifting, the operating state is a heavy-load lifting state; when the current signal characterizes that the motor is energized, the weight signal characterizes that the hook is loading, and the action signal characterizes that the hook is lifting, the operating state is a heavy-load lifting state; when the current signal characterizes that the motor is energized, the weight signal characterizes that When the hook is under load and the action signal indicates that the hook is rotating or luffing, the operating state is heavy-load rotation or luffing state; when the current signal indicates that the motor is energized, the weight signal indicates that the hook is under load, and the action signal indicates that the hook is stationary, the operating state is heavy-load hovering / pausing state; when the duration of the heavy-load hovering / pausing state exceeds the preset fault duration, the user is notified of a fault; when the current signal indicates that the motor is energized, the weight signal indicates that the hook is unloaded, and the action signal indicates that the hook is lifting, rotating, or luffing, the operating state is no-load return state.

[0015] Preferably, in the prediction and suggestion step, the expected load is the sum of the weights of all components to be lifted by each tower crane within the future preset time period; the tower crane to be adjusted is a tower crane whose expected load is higher than the upper limit threshold of the load; the scheduling suggestion scheme includes transferring the components to be lifted by the tower crane to be adjusted to the target tower crane; the single transfer requirements of the components to be lifted include: coverage requirements, that is, the coordinates of the components to be lifted are within the coverage area of ​​the target tower crane; and load requirements, that is, the weight of the components to be lifted is less than or equal to the rated weight of the target tower crane.

[0016] This application provides a smart sensing and scheduling auxiliary decision-making system and method for the operation status of tower crane clusters, which has the following beneficial effects: 1. The state awareness layer separates the idle waiting state from the various operating states of the tower crane, making it an independent state that can be recorded and quantified by the system. 2. The cluster analysis layer clearly defines the quantitative standards for empty tower cranes and the empty mode of tower crane clusters, making the system's identification and management more targeted; 3. The prediction and suggestion layer determines the idle waiting that will occur in the future by predicting the load, and provides scheduling suggestions based on the judgment results; therefore, the scheduling suggestions are generated and provided to users before the idle waiting actually occurs, rather than passively responding after the idle waiting actually occurs. 4. The state perception layer defines idle waiting as an independent state, the cluster analysis layer diagnoses the rationality of task allocation by the number of idle tower cranes, and the prediction and suggestion layer further transforms the diagnosis into executable actions; the three constitute a complete transformation chain of "identification-analysis-prediction", which transforms idle waiting from "having occurred and needing to be reviewed afterward" to "being able to prevent it before it occurs". Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the system architecture provided in the embodiments of this application.

[0019] Figure 2 This is a schematic diagram of the logic flow for determining the operating status of a tower crane provided in an embodiment of this application.

[0020] Figure 3 This is a flowchart illustrating the method provided in an embodiment of this application. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] Unless otherwise defined, all technical and scientific terms used in the embodiments of this application have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the embodiments of this application is for the purpose of describing the embodiments of this application only and is not intended to limit this application.

[0023] like Figure 1 As shown, this application provides an intelligent perception and scheduling auxiliary decision-making system for the operating status of tower crane clusters. The system includes a status perception layer, a cluster analysis layer, and a prediction and suggestion layer. The synergy of these three layers produces technical effects that cannot be achieved by a single layer. The status perception layer defines idle waiting as an independent state, the cluster analysis layer diagnoses the rationality of task allocation by the number of idle tower cranes, and the prediction and suggestion layer further transforms the diagnosis into executable actions. These three elements constitute a complete transformation chain of "identification-analysis-prediction," transforming idle waiting from "something that has already happened and needs to be reviewed afterward" to "something that will happen and can be prevented in advance."

[0024] The state awareness layer is configured to determine the tower crane's operating status based on current signals indicating motor energization / de-energization, weight signals indicating hook loading / unloading, and motion signals indicating hook movement / stationary position. When the current signal indicates motor energization, the weight signal indicates hook unloaded, and the motion signal indicates hook stationary, the operating status is an idle waiting state. The state awareness layer separates the idle waiting state from the various operating states of the tower crane, making it an independent state that can be recorded and quantified separately by the system.

[0025] like Figure 2As shown, in a preferred embodiment, the state perception layer subdivides the tower crane's operating state into three categories based on different combinations of current signals, weight signals, and action signals: off-peak state, heavy-load hoisting, heavy-load slewing or luffing, heavy-load hovering / pause state, unloaded return, and unloaded waiting state. The action signal characterizing the hook's movement indicates whether the hook's current action is hoisting, slewing, or luffing. When the current signal indicates the motor is de-energized, the operating state is off-peak. When the current signal indicates the motor is energized, the weight signal indicates the hook is loaded, and the action signal indicates the hook is hoisting, the operating state is heavy-load hoisting. When the current signal indicates the motor is energized, the weight signal indicates the hook is loaded, and the action signal indicates the hook is slewing or luffing, the operating state is heavy-load slewing or luffing. When the current signal indicates the motor is energized, the weight signal indicates the hook is loaded, and the action signal indicates the hook is stationary, the operating state is heavy-load hovering / pause. When the duration of the heavy-load hover / pause state exceeds the preset fault duration, the system will prompt the user with a fault. When the current signal indicates that the motor is energized, the weight signal indicates that the hook is unloaded, and the action signal indicates that the hook is performing a lifting, slewing, or luffing action, the operating state is the no-load return state.

[0026] The difference between no-load return and no-load waiting lies in whether the action signal represents hook movement. No-load return is the necessary stroke for the tower crane to return to the pick-up point after hoisting, while no-load waiting is a purely consuming state without any movement. Accurately distinguishing between these two states allows the identification results of the state perception layer to support the subsequent cluster analysis layer's accurate judgment of the no-load nature, avoiding misjudging necessary strokes as inefficient no-load. In actual construction sites, various complex working conditions exist. For example, during the hoisting process, if a component is detached or unloaded midway, and the system does not identify the action signal representing the hoisting action, it may misjudge this brief state as no-load waiting. Another example is the signal residue of slewing / luffing actions. When the slewing / luffing action stops, the encoder signal may have a brief inertial fluctuation (in the current technology, the slewing / luffing action is usually judged by the signal of the rotary encoder). If the system does not identify the action signal representing the slewing / luffing action, it will misjudge the stationary no-load state as no-load return.

[0027] The cluster analysis layer is configured to confirm the load mode of the tower crane cluster as empty when the number of empty tower cranes is greater than or equal to a preset empty lower limit threshold. An empty tower crane is defined as a tower crane whose cumulative time in an empty waiting state within a unit of time exceeds a preset time threshold (e.g., 1 minute, which can be set according to specific needs). The empty lower limit threshold is a preset judgment threshold, and its specific value can be configured by the management personnel based on factors such as the total number of tower cranes and the density of work surfaces at the construction site (e.g., it can be set to 1 in a scenario with 4 tower cranes and 2 in a scenario with 6 tower cranes). The cluster analysis layer clearly defines the quantitative standards for empty tower cranes and the empty mode of the tower crane cluster, changing the judgment of whether there is an empty phenomenon in the tower crane cluster from a qualitative description to a quantitative judgment, allowing managers to directly know the empty status of the cluster based on the number of empty tower cranes.

[0028] The prediction and suggestion layer is configured to generate a scheduling suggestion scheme and provide it to the user after the cluster analysis layer confirms that the load mode is an idle mode.

[0029] Step a: Calculate the expected load of each tower crane. The expected load is the sum of the weights of all lifting components that each tower crane plans to handle within a preset future time period, calculated based on the planned scheduling scheme and the lifting completion status of each lifting component. By defining the expected load of the tower cranes, the expected load of each tower crane within the preset future time period is quantified, providing a comparable data basis for subsequent load status judgment. In this application, "lifting completion status" refers to the lifting component having been lifted and transferred to the target location by the tower crane.

[0030] Step b: Identify the tower crane to be adjusted; the tower crane to be adjusted is the tower crane whose expected load is higher than the preset upper limit threshold, so as to screen out tower cranes with excessive workload and which need to transfer some components outward.

[0031] Step c: Identify the lifting components to be transferred; the lifting components to be transferred are those whose expected load exceeds the upper limit threshold of the load of each tower crane. Identify the specific components that need to be transferred from the task list of the tower cranes to be adjusted identified in step b.

[0032] Step d: Identify the target tower crane and generate a scheduling suggestion to transfer the component to be hoisted from the tower crane to be adjusted to the target tower crane; the target tower crane is the tower crane used to handle the component to be hoisted. This generates a specific task adjustment plan before the idle waiting occurs, allowing users (managers) to proactively adjust task allocation before the idle waiting occurs, rather than passively responding after the idle waiting has already occurred.

[0033] The four steps (a to d) constitute a complete logical chain for the prediction and suggestion layer: first, quantify the expected load of each tower crane; then, identify the tower crane to be adjusted, confirm the components to be transferred, and finally, match the target tower crane and generate a scheduling suggestion plan. If step a is missing, subsequent steps cannot obtain quantitative data on the expected load; if step b is missing, the system cannot determine which tower cranes need adjustment; if step c is missing, the system cannot specify which components need to be transferred; and if step d is missing, the system cannot generate an executable scheduling plan. These four steps constitute a complete transformation chain of "quantification-screening-location-matching".

[0034] Preferably, before calculating the expected load of each tower crane, the prediction and suggestion layer further includes identifying the reasons for vacancy: if there are no components to be hoisted within the coverage area of ​​an vacant tower crane, a scheduling suggestion scheme is not triggered; if the components to be hoisted within the coverage area of ​​an vacant tower crane have not been assigned to that vacant tower crane, a scheduling suggestion scheme is triggered. There are two possible reasons for an vacant tower crane: first, all components to be hoisted within the coverage area of ​​that tower crane have been hoisted, and vacancy is a normal state after the completion of a phased task; second, there are still components to be hoisted within the coverage area but they have not been assigned, and vacancy is an abnormal state caused by uneven task allocation. The former does not require triggering scheduling adjustments, while the latter requires generating a scheduling suggestion scheme. Therefore, identifying the reasons for vacancy can avoid the erroneous triggering of scheduling suggestion scheme generation under normal operating conditions, reducing invalid information interference to users (managers).

[0035] Furthermore, after calculating the expected load of each tower crane and before confirming whether a tower crane needs adjustment, the prediction and suggestion layer also includes determining the expected load status of each tower crane, including: when the expected load of a tower crane is higher than the upper load threshold, the expected load status of the tower crane is heavy load, and the tower crane is a heavy load tower crane; when the expected load of a tower crane is lower than the lower load threshold, the expected load status of the tower crane is light load, and the tower crane is a light load tower crane; when the expected load of a tower crane is neither higher than the upper load threshold nor lower than the lower load threshold, the expected load status of the tower crane is balanced load, and the tower crane is a balanced load tower crane; confirming the tower crane to be adjusted also includes confirming the heavy load tower crane as the tower crane to be adjusted; confirming the target tower crane includes: from the light load tower crane and the balanced load tower crane, confirming the tower crane that can bear the lifting component to be transferred, and the total weight of the lifting component to be transferred is less than or equal to the remaining load of the target tower crane; the remaining load is the difference between the upper load threshold and the expected load of the tower crane. The system categorizes tower cranes into three classes—heavy load, light load, and balanced load—based on a comparison between the expected load and the upper and lower load thresholds. Tower cranes requiring adjustment are identified from the heavy load category, while target tower cranes are identified from the light load and balanced load categories. Target tower cranes must ensure that the total weight of the components to be lifted by the target crane does not exceed its remaining load (the difference between the upper load threshold and the expected load). This ensures that the target tower crane will not exceed the upper load threshold after undertaking new tasks, allowing the expected workload of each tower crane to tend towards balance after the proposed adjustment plan is implemented. Furthermore, the system clarifies the target objects for adjustment from both the heavy and light load perspectives: heavy load tower cranes need to remove the lifting components, while light load and balanced load tower cranes can take on the lifting components.

[0036] Specifically, the balanced load includes full-load balanced load, normal balanced load, and critical light-load balanced load. When the tower crane's expected load equals the upper load threshold, the balanced load is a full-load balanced load. When the tower crane's expected load is lower than the upper load threshold but not higher than the lower load threshold, the balanced load is a normal balanced load. When the tower crane's expected load equals the lower load threshold, the balanced load is a critical light-load balanced load. Tower cranes with full-load balanced loads cannot carry out lifting operations, while tower cranes with critical light-load balanced loads are preferentially used for carrying lifting operations.

[0037] Furthermore, the target tower crane is confirmed according to the following priority order. The single transfer requirements for the component to be transferred include at least: coverage requirement, the coordinates of the component to be transferred are within the coverage area of ​​the target tower crane; load requirement, the weight of the component to be transferred is less than or equal to the rated weight of the target tower crane. Preferably, the single transfer requirements for the component to be transferred also include collision avoidance requirements, confirming that there is no conflict in the rotation path between the target tower crane and its adjacent tower cranes.

[0038] The first priority is to have a single light-load tower crane handle the entire load, which is the optimal solution. This means choosing the light-load tower crane with the lowest expected load that meets the transfer requirements of all components to be moved, and whose total weight of the components to be moved is less than or equal to the remaining load of that light-load tower crane.

[0039] The second priority is to have a single balanced load tower crane handle the entire load, which is the suboptimal solution. This involves selecting the balanced load tower crane that meets the transfer requirements of all components to be moved and has the lowest expected load, where the total weight of the components to be moved is less than or equal to the remaining load of that balanced load tower crane.

[0040] The first and second priority requirements stipulate that a single tower crane must meet the transfer requirements of all components to be transferred and have sufficient remaining load.

[0041] The third priority involves using multiple tower cranes in combination to handle the entire load. At least two tower cranes are selected in ascending order of expected load to form the first target combination. The coverage area of ​​each tower crane in the first target combination covers the coordinates of all components to be transferred, and the sum of the remaining loads of all tower cranes in the first target combination is greater than or equal to the total weight of the components to be transferred. The third priority allows for combinations of multiple tower cranes, but requires that the coverage area of ​​each tower crane in the first target combination covers the coordinates of all components to be transferred and that the sum of the remaining loads is sufficient.

[0042] The fourth priority, a multi-tower crane transfer chain, serves as a fallback solution. Lightly loaded and evenly loaded tower cranes, whose coverage area can encompass the coordinates of the component to be transferred, along with at least one additional lightly loaded and evenly loaded tower crane, are combined to form a second set of target tower cranes. The sum of the remaining loads of all tower cranes in this second set of target tower cranes is greater than or equal to the total weight of the component to be transferred. Simultaneously, the coverage area of ​​any tower crane within the second set of target tower cranes overlaps with the coverage area of ​​at least one other tower crane, and any transfer within the second set of target tower cranes satisfies the transfer requirements of a single component to be transferred. That is, when no single tower crane (first priority and second priority) or combination of multiple tower cranes (third priority) can receive all the components to be transferred, a transfer chain is formed, consisting of light-load tower cranes and balanced-load tower cranes. The first level of the transfer chain consists of light-load tower cranes and balanced-load tower cranes whose coverage areas can cover the coordinates of the components to be transferred. Since the sum of the remaining load capacity of all tower cranes in the first level is less than the total weight of the components to be transferred (if the sum of the remaining load capacity of all tower cranes in the first level is greater than or equal to the total weight of the components to be transferred, it is the third priority), the transfer chain also includes at least one subsequent level tower crane. The subsequent level tower crane is selected from other light-load tower cranes and balanced-load tower cranes other than those already included in the transfer chain. Each level tower crane in the transfer chain receives a portion of the components to be transferred from the previous level and transfers the portion exceeding its own remaining load capacity to the next level. Each level of transfer meets the coverage and load requirements. The fourth priority allows for the construction of longer transfer chains, but requires that the coverage area of ​​any tower crane within the transfer chain overlaps with the coverage area of ​​at least one other tower crane to ensure that components can be transferred between tower cranes.

[0043] This priority order allows the system to prioritize the solution with the lowest adjustment cost when matching target tower cranes. As the priority decreases, the complexity of the solution and the number of tower cranes involved increase. When a single-tower solution cannot meet the requirements, it automatically degrades to a multi-tower solution, thereby improving the success rate of generating scheduling suggestions.

[0044] In a preferred embodiment, the system further includes a closed-loop recording layer, configured to at least record the scheduling proposal and whether it was actually executed; if executed, record the change in the number of idle waiting tower cranes after execution; if not executed, record the reason for not executing. See also Figure 1The closed-loop recording layer enables the system to record data throughout the entire process of scheduling proposal generation and execution, providing a data foundation for post-event review. When a scheduling proposal is not adopted or its execution is ineffective, users can trace the cause based on the recorded data. Simultaneously, users can also use the closed-loop recording layer to configure the recording or analysis of other data related to the scheduling proposal's generation and execution, such as the time from receiving the proposal to deciding whether to execute it, and the weekly execution status of the scheduling proposal.

[0045] Furthermore, the system categorizes load modes into three types. When the number of unloaded tower cranes is less than or equal to a preset lower unload threshold, the load mode is normal. The unload modes also include single-machine unload mode and cluster unload mode. When the number of unloaded tower cranes is greater than the lower unload threshold but less than or equal to a preset upper unload threshold (e.g., half the total number of tower cranes, or set according to actual needs), the unload mode is single-machine unload mode. When the number of unloaded tower cranes is greater than the upper unload threshold, the unload mode is cluster unload mode. If the unload mode is cluster unload mode, the closed-loop recording layer also needs to record that the scheduling suggestion was triggered by the cluster unload mode, so that the user can confirm that a systemic imbalance has occurred in this scheduling plan. This is to facilitate the identification of the unload mode type corresponding to the scheduling suggestion during review, thereby distinguishing between a local adjustment scheme and a systemic review scheme. For example, even if the number of idle tower cranes decreases after the execution of a scheduling suggestion that triggers a cluster idle mode, users still need to pay attention to whether the systemic causes of the task allocation imbalance have been truly resolved. However, for a suggestion that triggers a single-machine idle mode, a decrease in the number of idle tower cranes after execution can be considered a resolution of the local problem. This record allows scheduling suggestions for different modes to have different post-execution focus, avoiding the use of the same standard to measure problems of different natures.

[0046] like Figure 3 As shown, this application provides a method for intelligent perception and scheduling auxiliary decision-making of tower crane cluster operation status (hereinafter referred to as the "method"), which includes a status perception step, a cluster analysis step, and a prediction suggestion step. This method can separate and quantify idle waiting from the no-load state, and proactively generate scheduling suggestions before idle waiting occurs. The specific content of each step in this method is described in detail below.

[0047] Step S1, State Awareness Step: Based on the current signal indicating motor energization / de-energization, the weight signal indicating hook loading / unloading, and the motion signal indicating hook movement / stationary, the operating state of the tower crane is confirmed. When the current signal indicates motor energization, the weight signal indicates hook unloading, and the motion signal indicates hook stationary, the operating state is the no-load waiting state. This step separates the no-load waiting state from the no-load state, making it an independent state that can be identified and quantified by the system.

[0048] Step S2, Cluster Analysis Step: When the number of unloaded tower cranes is greater than or equal to the preset unloaded lower threshold, the load mode of the tower crane cluster is confirmed to be unloaded mode. An unloaded tower crane refers to a tower crane whose cumulative time in an unloaded waiting state within a unit of time exceeds the preset time threshold. This step clearly defines the quantitative standards for unloaded tower cranes and the unloaded mode of tower crane clusters, changing the judgment of whether there is an unloaded phenomenon in the tower crane cluster from a qualitative description to a quantitative determination.

[0049] Step S3, Predictive Recommendation Steps: After confirming the load mode as an idle mode in the cluster analysis step, a scheduling recommendation scheme is generated and provided to the user according to the following steps to balance the expected load of each tower crane in subsequent periods: a. Calculate the expected load of each tower crane; the expected load is the sum of the weights of all lifting components planned to be borne by each tower crane in the future preset period, calculated based on the planned scheduling scheme and the lifting completion status of each lifting component; b. Confirm the tower crane to be adjusted; the tower crane to be adjusted is the tower crane whose expected load is higher than the preset load upper limit threshold; c. Confirm the lifting component to be transferred; the lifting component to be transferred is the lifting component whose expected load exceeds the load upper limit threshold of each tower crane; d. Confirm the target tower crane and generate a scheduling recommendation scheme to transfer the lifting component to be transferred from the tower crane to be adjusted to the target tower crane; the target tower crane is the tower crane used to bear the lifting component to be transferred. Through four steps (a to d), the task allocation is proactively adjusted before the idle waiting occurs, rather than passively responding after the idle waiting has already occurred.

[0050] Preferably, in step S1, the operating states further include an off-state, heavy-load lifting, heavy-load slewing or luffing, heavy-load hovering / pausing, no-load return, and no-load waiting. The motion signal characterizing the hook movement is used to indicate whether the hook's current action is lifting, slewing, or luffing. When the current signal indicates the motor is de-energized, the operating state is off-state. When the current signal indicates the motor is energized, the weight signal indicates the hook is loaded, and the motion signal indicates the hook is lifting, the operating state is heavy-load lifting. When the current signal indicates the motor is energized, the weight signal indicates the hook is loaded, and the motion signal indicates the hook is slewing or luffing, the operating state is heavy-load slewing or luffing. When the current signal indicates the motor is energized, the weight signal indicates the hook is loaded, and the motion signal indicates the hook is stationary, the operating state is heavy-load hovering / pausing. When the duration of the heavy-load hovering / pausing state exceeds a preset fault duration, the system alerts the user to a fault. When the current signal indicates that the motor is energized, the weight signal indicates that the hook is unloaded, and the action signal indicates that the hook is performing a lifting, slewing, or luffing action, the operating state is the no-load return state. Detailed determination of the operating state is performed to avoid system misjudgment and thus accurately identify the no-load waiting state.

[0051] In one specific implementation, step S1 further includes: determining a current threshold (if the current signal is greater than or equal to the current threshold, the motor is determined to be energized; if the current signal is less than the current threshold, the motor is determined to be de-energized), an unload threshold (if the weight signal is greater than or equal to the unload threshold, the hook is determined to be loaded; if the weight signal is less than the unload threshold, the hook is determined to be unloaded); a hoisting action threshold (if the hoisting action signal is greater than or equal to the hoisting action threshold, the hook is determined to be hoisting; if the hoisting action signal is less than the hoisting action threshold, the hook is determined not to be hoisting); a slewing action threshold (if the slewing action signal is greater than or equal to the slewing action threshold, the hook is determined to be slewing; if the slewing action signal is less than the slewing action threshold, the hook is determined not to be slewing); and a luffing action threshold (if the luffing action signal is greater than or equal to the luffing action threshold, the hook is determined to be luffing; if the luffing action signal is less than the luffing action threshold, the hook is determined not to be luffing). This determination method is not only applicable to this embodiment, but is a feasible implementation of this application.

[0052] Preferably, in the prediction and suggestion step (step S3), the expected load is the sum of the weights of all components to be lifted that each tower crane plans to handle within the preset future time period; the tower crane to be adjusted is the tower crane whose expected load is higher than the upper limit threshold of the load; the scheduling suggestion scheme includes transferring the components to be lifted from the tower crane to be adjusted to the target tower crane; the single transfer requirements for the components to be lifted include: coverage requirements, i.e., the coordinates of the components to be lifted are within the coverage area of ​​the target tower crane; and load requirements, i.e., the weight of the components to be lifted is less than or equal to the rated weight of the target tower crane. Step S3 ensures that the expected workload of each tower crane tends to be balanced after the suggested adjustment scheme is implemented, and at the same time clarifies the target objects of adjustment from both light and heavy load directions. Heavy-load tower cranes need to transfer the lifting components, while light-load tower cranes and balanced load tower cranes can take on the lifting components.

[0053] This application adopts a three-layer architecture consisting of a state perception layer, a cluster analysis layer, and a prediction and suggestion layer, forming a complete transformation chain of "identification-analysis-prediction": the state perception layer separates the no-load waiting state from the no-load state into a quantifiable independent state; the cluster analysis layer uses the number of no-load tower cranes being greater than or equal to the no-load lower limit threshold as a quantitative judgment condition for the no-load mode; and the prediction and suggestion layer calculates the expected load, confirms the tower cranes to be adjusted, confirms the components to be transferred, confirms the target tower crane, and generates a plan, proactively generating scheduling suggestion plans before no-load waiting occurs, thus upgrading the system from recording no-load after the fact to predicting and generating plans in advance. This application further subdivides the operating status into four states to avoid necessary processes being misjudged as idle waiting, adds idle cause identification to distinguish between normal completion and uneven task allocation, establishes a three-classification system of heavy load / light load / balanced load and residual load constraints to ensure that the workload tends to be balanced after the solution is executed, sets up a four-level priority rule to prioritize the solution with the lowest adjustment cost and improve the generation success rate, introduces a closed-loop record layer to make the data traceable throughout the entire link, and uses a three-level load mode classification and cluster idle mode label to distinguish the different natures of local adjustments and systemic imbalances during review.

[0054] The technical solution of this application will be further described below with reference to specific embodiments.

[0055] Example 1: This example is applied to a high-rise steel structure apartment construction project. Four horizontal jib tower cranes are deployed on-site, covering four work areas: A, B, C, and D. The project requires the hoisting of approximately 1200 steel columns, beams, and prefabricated components, with a construction period of 6 months. The system is deployed on a local server in the site office, collecting sensor data from the PLCs of each tower crane via industrial Ethernet.

[0056] First, a three-day on-site calibration was conducted to determine the judgment thresholds for each state. The calibration method involved recording the average value I of the motor current during no-load steady-state operation. standby Typical values ​​of the encoder's rate of change are recorded as ε during hoisting, slewing, and luffing operations. H ε R ε θ The reference benchmark. In this embodiment, the calibration results of the four tower cranes are I... standby =2.3A to 2.8A, ε H =0.8m / s, ε R =0.3m / s, ε θ =5° / s. The no-load threshold W for the suspended weight. no_load The uniform weight is set to 150 kg. After calibration, the system uses a 1-minute time window ΔT to make real-time judgments through the state awareness layer. The no-load upper limit threshold is set to 1.

[0057] On its first day of operation, the system identified an abnormal pattern: Tower crane #4 had three empty cranes between 2:00 PM and 3:00 PM daily, far exceeding the preset empty crane limit. The dispatcher, using the closed-loop record layer's dashboard, discovered that this period corresponded to a gap in the arrival of transport vehicles for lifting components. Prior to this, management only knew that tower cranes were relatively idle in the afternoon, but couldn't quantify its scale or pattern. Reports for three consecutive days showed that the system consistently marked the 2:00 PM to 3:00 PM period as a cluster empty crane mode, with tower cranes #1 and #3 being lightly loaded. This allowed the dispatcher to quickly determine that the slow supply of lifting components was causing problems with the planned scheduling scheme.

[0058] Based on the scheduling plan, the system predicts the load of each tower crane between 14:00 and 15:00 on the same day: Tower crane No. 3 has only one component to be lifted (expected to be completed at 14:20), followed by a 35-minute idle waiting period; while tower crane No. 1 still has 5 components to be lifted, and the operation is expected to continue until 15:30. The system automatically generates a scheduling suggestion: transfer the steel column X (weighing 780kg, located within the coverage area of ​​tower crane No. 3) from tower crane No. 1 to tower crane No. 3 for execution. The single transfer in the scheduling suggestion meets the following requirements: 1) Coverage requirement: the coordinates of steel column X are within the coverage area of ​​tower crane No. 3; 2) Load requirement: the weight of steel column X is less than the rated load of tower crane No. 3. The dispatcher contacts the operator of tower crane No. 1 via walkie-talkie to confirm that tower crane No. 1 can execute the operation, and then contacts the operator of tower crane No. 3 via walkie-talkie to issue the instruction. The operator of tower crane No. 3 completed the hoisting of the component as instructed, and then continued to carry out the original planned operation.

[0059] The system automatically recorded all data for the proposed scheduling plan: suggestion generation time 13:08, management confirmation time 2 minutes (confirmed at 13:10), actual execution (lifting completed at 13:12), and reduction in idle waiting time (tower crane No. 3 was originally expected to wait 35 minutes, but was actually reduced to 8 minutes). At the debriefing meeting a week later, the dispatcher, through the visual dashboard of the closed-loop recording layer, found that 6 suggestions were adopted and 1 suggestion was not adopted, the reason being that the component to be lifted did not arrive on time. Based on this data, the dispatcher predicted the time window T. lookahead The timeframe has been adjusted from 60 minutes to 45 minutes to match the supply period of hoisting components and to coordinate and optimize the delivery schedule for hoisting components in the afternoon.

[0060] One week after the system went online, the average daily idle waiting time for each tower crane decreased from approximately 120 minutes to approximately 65 minutes. The entire process involved no manual intervention of the tower crane control system; all dispatch instructions were confirmed manually and then transmitted via walkie-talkie, complying with on-site safety procedures.

[0061] Example 2: This example is applied to a large commercial complex project with six tower cranes deployed on-site. The work areas are densely overlapping, and the estimated daily lifting volume is approximately 80 to 120 components, with a tight project schedule. The system is deployed on a cloud server at the construction site and connects to the data acquisition terminals of each tower crane via a 4G / 5G network. After the signals from the six tower cranes are received, the status awareness layer collects current, weight, and motion signals through the respective data acquisition terminals of each crane, uploading only the status results to the cloud server. The cluster analysis layer generates reports every 5 minutes to adapt to the fast-paced construction environment. In the second week of system operation, the cluster idle report consistently showed that tower cranes No. 2 and No. 5 were simultaneously idle between 9:00 AM and 10:00 AM daily, coinciding with the peak lifting time for tower cranes No. 1 and No. 3. This was determined to be an uneven task allocation, and the dispatcher adjusted the coverage area of ​​each tower crane (by adjusting the crane positions) to balance the expected load of each crane. After the dispatching suggestion plan is generated and confirmed by the regional managers, ground command personnel issue instructions to each tower crane operator via walkie-talkie, without adding any extra management steps. Simultaneously, a collective idle mode reminder time τ is set and reminded in the closed-loop recording layer. Initially, τ was set to 3 minutes, 4 minutes, 5 minutes, and 6 minutes respectively. Reviewing historical data from the past 7 days revealed that setting τ to 4 minutes resulted in 8 additional cluster idle reminders over the past 7 days, 4 of which corresponded to actual idle waiting and 4 to brief work breaks. Finally, management personnel set τ to 4 minutes and manually confirmed its effectiveness. After one month of system operation, the average daily idle waiting time for each tower crane decreased from approximately 150 minutes to approximately 80 minutes.

[0062] In the above embodiments, the prediction time window T lookahead The cluster idle reminder time is an adaptive adjustment based on different construction scenarios and management response speeds. It is a parameter that can be freely adjusted within the scope of protection of this application and does not change the core inventive concept of this application.

[0063] Based on the above technical solutions, this application achieves the following in the field of intelligent scheduling of tower crane clusters: Through four-state refined identification, the idle waiting state is separated from the no-load state into an independent and quantifiable state, enabling managers to see the distribution and scale of idle waiting; through cluster idle pattern identification, the simultaneous idle waiting of more than half of the tower cranes is quantified as a task allocation balance indicator, enabling managers to identify systemic imbalances at the cluster level; through predictive scheduling assistance suggestions, task adjustment plans are proactively generated before idleness occurs, upgrading the scheduling mode from reactive to predictive; through system positioning for decision support, all suggestions are ensured to be communicated via existing methods such as walkie-talkies after manual confirmation, without touching the tower crane control system, requiring no safety approval or hardware modification, and without violating industry safety regulations.

[0064] The above descriptions are merely embodiments of this application. Commonly known technical solutions or characteristics are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the technical solution of this application. These modifications and improvements should also be considered within the scope of protection of this application, and will not affect the effectiveness of the application or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A smart sensing and scheduling auxiliary decision-making system for the operating status of a tower crane cluster, characterized in that, include: The state awareness layer is configured to confirm the operating status of the tower crane based on the current signal representing the motor being energized / de-energized, the weight signal representing the hook being loaded / unloaded, and the action signal representing the hook being moved / stationary. When the current signal indicates that the motor is energized, the weight signal indicates that the hook is unloaded, and the action signal indicates that the hook is stationary, the operating status is an idle waiting state. The cluster analysis layer is configured to confirm that the load mode of the tower crane cluster is in the unloaded mode when the number of unloaded tower cranes is greater than or equal to the preset unloaded lower limit threshold. An unloaded tower crane is a tower crane whose cumulative time in the unloaded waiting state within a unit of time exceeds the preset time threshold. The prediction and suggestion layer is configured to generate a scheduling suggestion scheme and provide it to the user according to the following steps after the cluster analysis layer confirms that the load mode is an idle mode: calculate the expected load of each tower crane; the expected load is the sum of the weights of all lifting components that each tower crane plans to bear in a future preset time period, calculated based on the planned scheduling scheme and the lifting completion status of each lifting component. Confirm the tower crane to be adjusted; The tower crane to be adjusted is a tower crane whose expected load is higher than a preset upper limit threshold load. Identify the components to be transferred and hoisted; the components to be transferred and hoisted are those whose expected load exceeds the upper limit threshold of the load of each tower crane; as well as Identify the target tower crane and generate a scheduling suggestion plan to transfer the components to be hoisted from the tower crane to be adjusted to the target tower crane; The target tower crane is a tower crane used to carry the components to be transferred and hoisted.

2. The system according to claim 1, characterized in that, The operating states also include the off state, heavy load lifting state, heavy load slewing or luffing state, heavy load hovering / pausing state, and no-load return state; among them, the motion signal characterizing the hook movement is used to characterize the current action of the hook as lifting action, slewing action, or luffing action. When the current signal indicates that the motor is powered off, the operating state is the off state; When the current signal indicates that the motor is energized, the weight signal indicates that the hook is loaded, and the action signal indicates that the hook is lifting, the operating state is the heavy load lifting state. When the current signal indicates that the motor is energized, the weight signal indicates that the hook is loaded, and the action signal indicates that the hook is rotating or luffing, the operating state is a heavy-load rotating or luffing state. When the current signal indicates that the motor is energized, the weight signal indicates that the hook is loaded, and the action signal indicates that the hook is stationary, the operating state is the heavy-load hovering / pause state; when the duration of the operating state in the heavy-load hovering / pause state exceeds the preset fault duration, the user is notified of a fault. When the current signal indicates that the motor is energized, the weight signal indicates that the hook is unloaded, and the action signal indicates that the hook is performing a lifting, slewing, or luffing action, the operating state is the no-load return state.

3. The system according to claim 1, characterized in that, Before calculating the expected load of each tower crane, the prediction and suggestion layer also includes identifying the reasons for vacancy: if there are no components to be lifted in the coverage area of ​​the vacant tower crane, the generation of a scheduling suggestion scheme will not be triggered; if the components to be lifted in the coverage area of ​​the vacant tower crane have not been assigned to the vacant tower crane, the generation of a scheduling suggestion scheme will be triggered.

4. The system according to claim 1, characterized in that, After calculating the expected load of each tower crane and before confirming whether a tower crane needs adjustment, the prediction and suggestion layer also includes determining the expected load status of each tower crane, including: when the expected load of a tower crane is higher than the upper load threshold, the expected load status of the tower crane is heavy load, and the tower crane is a heavy load tower crane; when the expected load of a tower crane is lower than the lower load threshold, the expected load status of the tower crane is light load, and the tower crane is a light load tower crane; when the expected load of a tower crane is neither higher than the upper load threshold nor lower than the lower load threshold, the expected load status of the tower crane is balanced load, and the tower crane is a balanced load tower crane. Identifying tower cranes to be adjusted also includes identifying heavy-load tower cranes as those requiring adjustment. Identifying the target tower crane includes: identifying a tower crane from the light-load tower crane and the balanced-load tower crane that can handle the component to be transferred, and the total weight of the component to be transferred is less than or equal to the remaining load of the target tower crane; the remaining load is the difference between the upper limit threshold of the load and the expected load of the tower crane.

5. The system according to claim 4, characterized in that, The priority order of the target tower cranes is as follows: First priority: the light-load tower crane that meets the transfer requirements of all components to be transferred and has the lowest expected load, where the total weight of the components to be transferred is less than or equal to the remaining load of the light-load tower crane; The second priority is the balanced load tower crane that meets the transfer requirements of all components to be transferred and has the lowest expected load, and the total weight of the components to be transferred is less than or equal to the remaining load of the balanced load tower crane. The third priority is to select at least two tower cranes in order of expected load from low to high to form a first combination target tower crane. The coverage area of ​​each tower crane in the first combination target tower crane covers the coordinates of all components to be transferred and hoisted, and the sum of the remaining loads of each tower crane in the first combination target tower crane is greater than or equal to the total weight of the components to be transferred and hoisted. The fourth priority is to combine light-load and balanced-load tower cranes whose coverage area can cover the coordinates of the component to be transferred, as well as at least one additional light-load and balanced-load tower crane, into a second combination of target tower cranes. The sum of the remaining loads of each tower crane in the second combination of target tower cranes is greater than or equal to the total weight of the component to be transferred. At the same time, the coverage area of ​​any tower crane in the second combination of target tower cranes can overlap with the coverage area of ​​at least one other tower crane, and any transfer within the second combination of target tower cranes can meet the transfer requirements of a single component to be transferred. The single transfer requirement for the component to be hoisted is as follows: Coverage requirement: the coordinates of the component to be transferred and hoisted must be within the coverage area of ​​the target tower crane; Load requirement: The weight of the component to be transferred and hoisted is less than or equal to the rated weight of the target tower crane.

6. The system according to claim 1, characterized in that, It also includes a closed-loop recording layer, which is configured to record at least the scheduling suggestion scheme and whether it was actually executed; if executed, record the change in the number of idle waiting tower cranes after execution; if not executed, record the reason for not executing.

7. The system according to claim 6, characterized in that, When the number of unloaded tower cranes is less than or equal to the preset unloaded lower limit threshold, the load mode is normal mode; The no-load mode also includes a single-machine no-load mode and a cluster no-load mode; when the number of no-load tower cranes is greater than the lower no-load threshold and less than or equal to the preset upper no-load threshold, the no-load mode is a single-machine no-load mode; when the number of no-load tower cranes is greater than the upper no-load threshold, the no-load mode is a cluster no-load mode. If the idle mode is the cluster idle mode, the closed-loop recording layer also needs to record that the scheduling suggestion was triggered by the cluster idle mode, so that the user can confirm that the scheduling plan has a systemic imbalance.

8. A method for intelligent sensing and scheduling auxiliary decision-making of tower crane cluster operation status, implemented through the system as described in any one of claims 1 to 7, characterized in that, include: Status awareness steps: Based on the current signal indicating that the motor is energized / de-energized, the weight signal indicating that the hook is loaded / unloaded, and the action signal indicating that the hook is moving / stationary, the operating status of the tower crane is confirmed; when the current signal indicates that the motor is energized, the weight signal indicates that the hook is unloaded, and the action signal indicates that the hook is stationary, the operating status is the no-load waiting status. Cluster analysis steps: When the number of unloaded tower cranes is greater than or equal to the preset unloaded lower limit threshold, the load mode of the tower crane cluster is confirmed to be unloaded mode; an unloaded tower crane refers to a tower crane whose cumulative time in an unloaded waiting state within a unit of time exceeds the preset time threshold. as well as Predictive Recommendation Steps: After confirming the load pattern as idle in the cluster analysis step, generate a scheduling recommendation scheme according to the following steps and provide it to the user to balance the expected load of each tower crane in subsequent periods: Calculate the expected load for each tower crane; the expected load is the sum of the weights of all lifting components that each tower crane is planned to carry within a preset future time period, calculated based on the planned scheduling scheme and the lifting completion status of each lifting component; Confirm the tower crane to be adjusted; The tower crane to be adjusted is a tower crane whose expected load is higher than a preset upper limit threshold load. Identify the components to be transferred and hoisted; the components to be transferred and hoisted are those whose expected load exceeds the upper limit threshold of the load of each tower crane; Identify the target tower crane and generate a scheduling suggestion plan to transfer the components to be hoisted from the tower crane to be adjusted to the target tower crane; The target tower crane is a tower crane used to carry the components to be transferred and hoisted.

9. The method according to claim 8, characterized in that, The operating states also include the off state, heavy load lifting state, heavy load slewing or luffing state, heavy load hovering / pausing state, and no-load return state; among them, the motion signal characterizing the hook movement is used to characterize the current action of the hook as lifting action, slewing action, or luffing action. When the current signal indicates that the motor is powered off, the operating state is the off state; When the current signal indicates that the motor is energized, the weight signal indicates that the hook is loaded, and the action signal indicates that the hook is lifting, the operating state is the heavy load lifting state. When the current signal indicates that the motor is energized, the weight signal indicates that the hook is loaded, and the action signal indicates that the hook is rotating or luffing, the operating state is a heavy-load rotating or luffing state. When the current signal indicates that the motor is energized, the weight signal indicates that the hook is loaded, and the action signal indicates that the hook is stationary, the operating state is the heavy-load hovering / pause state; when the duration of the operating state in the heavy-load hovering / pause state exceeds the preset fault duration, the user is notified of a fault. When the current signal indicates that the motor is energized, the weight signal indicates that the hook is unloaded, and the action signal indicates that the hook is performing a lifting, slewing, or luffing action, the operating state is the no-load return state.

10. The method according to claim 8, characterized in that, In the aforementioned prediction and suggestion steps The projected load is the sum of the weights of all components to be lifted that each tower crane is scheduled to lift during the future preset time period; The tower crane to be adjusted is one whose expected load is higher than the upper limit threshold of the load. The proposed scheduling scheme includes transferring the components to be hoisted by the tower crane to be adjusted to the target tower crane; The single transfer requirements for the hoisting component to be transferred include: coverage requirements, that is, the coordinates of the hoisting component to be transferred are within the coverage area of ​​the target tower crane; The load requirement is that the weight of the component to be transferred and hoisted is less than or equal to the rated weight of the target tower crane.

Images