A tower crane control system, a tower crane control system intelligent upgrading method and device

Abstract

The application discloses a tower crane control system, an intelligent upgrading method and device of the tower crane control system, and the control system comprises a first instruction input system, a second instruction input system, an instruction selection switch and a motion control system, the first instruction input system is used for inputting intelligent operation instructions, the second instruction input system is used for inputting manual operation instructions, and the instruction selection switch is used for switching the input of the motion control system between the first instruction input system and the second instruction input system. The tower crane control system can be switched according to actual needs between intelligent control of the tower crane operation and manual operation control of the tower crane operation. Meanwhile, the first instruction input system can control the tower crane within a safe preset threshold range according to data collected by a second sensing module arranged on the tower crane, and the motion control system is further provided with a motion protection module which sends a stop instruction based on a feedback signal of a third sensing module, so that double insurance is realized for the motion control of the tower crane.

Description

Technical Field

[0001] This invention relates to the field of intelligent tower crane technology, and in particular to a tower crane control system, a method and apparatus for intelligent upgrading of the tower crane control system. Background Technology

[0002] Currently, most tower cranes used in construction still employ traditional control methods, relying on manual operation of the crane's control panel. Traditional tower cranes suffer from low levels of automation and low efficiency. Therefore, some methods have emerged to upgrade traditional tower cranes into intelligent ones. However, these methods often fail to retain the original operating procedures or trigger the safety devices designed into the original system, thus significantly impacting the crane's safety. Summary of the Invention

[0003] This invention provides a tower crane control system, a method and apparatus for intelligent upgrading of the tower crane control system, to solve the safety hazards that exist in traditional tower cranes after upgrading and modification in the prior art.

[0004] According to a first aspect of the present invention, a tower crane control system is provided, comprising: The first instruction input system includes a first sensing module, which is used to input intelligent operation instructions for controlling the operation of the tower crane based on the data collected by the first sensing module, and to obtain data collected by the second sensing module installed on the tower crane, and to issue a stop instruction when the data collected by the second sensing module exceeds a preset threshold. The second instruction input system is used to input manual operation instructions; An instruction selection switch is connected to the first instruction input system and the second instruction input system, and is also connected to the tower crane's motion control system, for switching the input of the motion control system between the first instruction input system and the second instruction input system; The motion control system includes a controller module, an actuator, and a motion protection module. The controller module is connected to the instruction selection switch and is used to receive input intelligent operation instructions or manual operation instructions, and control the actuator to perform corresponding actions according to the input intelligent operation instructions or manual operation instructions. The motion protection module is connected between the controller module and the actuator and is used to issue a stop command when it receives a signal from a third sensing module installed on the tower crane.

[0005] In some implementations, the first sensing module includes at least one of lidar, a sensor, and a visual sensing module.

[0006] According to a second aspect of the present invention, a method for intelligently upgrading a tower crane control system is provided, for upgrading a manually operated tower crane control system to the tower crane control system described in the first aspect above, comprising: Receive the first data information uploaded by the tower crane, and determine whether the first condition is met based on the received first data information; When the first condition is met, the instruction selection switch will be installed in the tower crane control system; Switch the instruction selection switch to the second instruction input system input and perform the first test; Determine whether the second condition is met based on the results of the first test; When the second condition is met, the instruction selection switch is switched to the first instruction input system input, and the second test is performed; Determine whether the third condition is met based on the results of the second test; When the third condition is met, the instruction selection switch is switched to the second instruction input system input, and the first instruction input system is connected to the tower crane control system. Switch the command selection switch to the first command input system input and perform the calibration process on the tower crane control system.

[0007] In some implementations, the first data information includes at least one of the modification design documents, modification process documents, and inspection operation instructions; The first condition is that the received files include modification design documents, modification process documents, and inspection operation instructions.

[0008] In some implementations, the first data information may also include a design requirement self-test table; The first condition also includes that each item in the design requirements self-check list has been completed.

[0009] In some implementations, the first test includes: The operator inputs the first action through the second command input system; Acquire data from the first sensor on the tower crane that is associated with the first action, wherein the first sensor is a sensor in the original tower crane control system; The second condition includes: The data from the first sensor has reached a preset threshold.

[0010] In some implementations, the second test includes: The operator inputs the second action through the second command input system; Data from a second sensor on the tower crane associated with the second action is acquired, wherein the second sensor is a sensor in the original tower crane control system; The third condition includes: The data from the second sensor remains unchanged.

[0011] In some implementations, the calibration process includes: Switch the instruction selection switch to the first instruction input system input; Perform position calibration; Perform sensor system calibration; Perform operation command consistency calibration.

[0012] In some implementations, the calibration process further includes: Stop data acquisition by the second sensing module; The system controls the tower crane to execute the third action by inputting the first command to trigger the feedback signal of the third sensing module and monitor whether a stop command has been received. Upon receiving a stop command, the second sensing module is activated to acquire data. The system is then controlled to execute a fourth action via the first command input to trigger the stop command, and the system monitors whether a stop command has been received. Upon receiving a stop command, the acceptance test is completed.

[0013] The tower crane control system of this invention features a command selection switch, allowing the command input to switch between a first command input system for intelligent control of the tower crane and a second command input system for manual control, as needed. Simultaneously, the first command input system controls the tower crane within a safe preset threshold range based on data collected by a second sensing module on the crane. If the data collected by the second sensing module exceeds the preset threshold, a stop command is immediately issued to ensure the safety of the tower crane control. Furthermore, the tower crane's motion control system also includes an additional motion protection module that issues stop commands based on feedback signals from a third sensing module, providing double protection for the tower crane's motion control. The intelligent upgrade method of this invention, when upgrading a traditional tower crane, performs first and second tests to ensure that the control system does not present significant safety hazards during the upgrade process, preventing accidents during testing after the upgrade is complete. It also ensures that the original tower crane system's operation remains unchanged and that all safety protection designs within the control system function correctly, effectively reducing safety risks associated with upgrading traditional tower cranes. Attached Figure Description

[0014] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic block diagram of a tower crane control system according to an embodiment of the present invention; Figure 2 This is a protection logic diagram of a tower crane control system according to an embodiment of the present invention; Figure 3 This is a flowchart of an intelligent upgrade method for a tower crane control system according to an embodiment of the present invention; Figure 4 This is a flowchart of the calibration process in the intelligent upgrade method for the tower crane control system according to an embodiment of the present invention; Figure 5 This is a flowchart of the calibration process in the intelligent upgrade method for the tower crane control system according to another embodiment of the present invention; Figure 6 This is a schematic block diagram of an intelligent upgrade device for a tower crane control system according to an embodiment of the present invention; Figure 7 This is a schematic block diagram of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0018] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising" or "including" include not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0019] The present invention will now be described in further detail with reference to the accompanying drawings.

[0020] The modular composition of a tower crane control system according to an embodiment of the present invention is illustrated schematically. (Refer to...) Figure 1 As shown, the tower crane control system of the present invention includes a first command input system 11, a second command input system 12, a command selection switch 13, and an action control system 14.

[0021] The first command input system 11 is a system for intelligent control of the tower crane. It includes a first sensing module connected to the first command input system. Specifically, the input to the first command input system is the data collected by the first sensing module. The first sensing module may include one or more of a lidar, a sensor, and a visual sensing module. Lidar is a mature sensing module in existing technology, which can be used to perceive and model objects on the tower crane and its surroundings. Sensors may include contact sensors, infrared sensors, photoelectric sensors, etc., and the specific hardware type and location can be selected and designed according to the actual situation of the tower crane, thereby enabling the determination of the current movement state of the tower crane and the position of each structure. The visual sensing module may include binocular sensors, cameras, etc., and the specific hardware type and location can be selected and designed according to the actual situation of the tower crane, thereby enabling the determination of objects on the tower crane and the surrounding conditions.

[0022] When the first command input system 11 generates intelligent operation commands for controlling the tower crane operation based on the data collected by the first sensing module, it can trigger a pre-set motion process when the data collected by the first sensing module reaches a preset value. For example, a first sensing module for detecting whether the hook has risen to the correct position can be installed at the bottom of the trolley luffing mechanism. When the first sensing module detects that the hook has risen to the correct position, it triggers a pre-set trolley luffing motion process. In this process, the direction, speed, and distance of the trolley luffing motion can be pre-designed according to the actual lifting scenario to adapt to a specific scenario, thereby improving the safety and efficiency of lifting operations in that specific scenario.

[0023] In other possible implementations, the first command input system 11 can identify the object to be lifted based on pre-calibrated three-dimensional coordinates using a visual perception module, determine the three-dimensional coordinate position of the object, and then invoke and execute a pre-built series of action flows corresponding to the current object. This allows the hook to automatically move above the object to be lifted, lift the object, and move it to the target location. In yet another possible implementation, the pre-built series of action flows can be implemented by a pre-trained neural network model that constructs the action flows in real time based on the data information obtained by the first perception module. The specific neural network model used and its training process can be found in existing descriptions, and will not be elaborated upon in this embodiment.

[0024] Simultaneously, the first command input system 11 is also used to acquire data collected by the second sensing module installed on the tower crane, and to issue a stop command when the data collected by the second sensing module exceeds a preset threshold. The second sensing module can be a running encoder installed on the tower crane's luffing mechanism, slewing mechanism, hoisting mechanism, etc., enabling real-time analysis of the data acquired from the running encoder to determine the current status and position of the trolley luffing mechanism, hook, jib, etc., on the tower crane. When the detected data from the second sensing module exceeds the preset threshold, it indicates that the current position of the trolley luffing mechanism, hook, jib, etc., on the tower crane is approaching a dangerous value, and a stop command is immediately issued to prevent an accident.

[0025] The second instruction input system 12 is the original tower crane's manual operating system, used to input manual operation instructions for the tower crane. Therefore, the second instruction input system will not be described in detail here.

[0026] The command selection switch 13 is connected to the first command input system 11 and the second command input system 12, and also to the tower crane's motion control system 14. It is used to switch the input of the motion control system 14 between the first command input system 11 and the second command input system 12. Specifically, the command selection switch 13 can be a physical switch, such as a button or lever switch. The command selection switch 13 can also switch the input of the motion control system 14 via online selection, thus enabling remote control switching of the motion control system 14 through external devices or online control.

[0027] The motion control system 14 includes a controller module, an actuator, and a motion protection module. The controller module is connected to an instruction selection switch and receives input intelligent or manual operation instructions, controlling the actuator to perform corresponding actions based on these instructions. Specifically, the controller module can be a PLC or a contactor. The control of the actuator based on intelligent or manual operation instructions can be implemented using methods employed in existing tower crane control systems, which will not be elaborated upon in this embodiment. The motion protection module is connected between the controller module and the actuator and issues a stop command upon receiving a signal from a third sensing module on the tower crane. Specifically, the third sensing module can be a limit switch or sensor installed on the tower crane to detect the limit safety positions of each actuator during movement. For example, it can be sensors installed at both ends of the track on which the trolley travels, issuing a stop command immediately upon detecting sensor feedback to halt the current movement.

[0028] It should be further explained that, for the same actuator in motion, protection logic can be simultaneously set up based on data collected by the second sensing module in the first command input system 11 and a preset threshold, and protection logic based on signals fed back from the third sensing module in the action protection module. (Refer to...) Figure 2 As shown, the protection logic formed by the feedback signal from the third sensing module should serve as the final safeguard. Therefore, the range of motion of the actuator based on the protection logic of the first command input system 11 will be smaller than the range of motion of the actuator based on the protection logic of the action protection module. When the actuator moves to a dangerous position, the protection of the first command input system 11 will be triggered first. Only if the protection of the first command input system 11 fails will the protection of the action protection module be triggered.

[0029] The tower crane control system of this invention, by incorporating a command selection switch 13, allows the command input of the tower crane control system to be switched between a first command input system 11 for intelligent control of tower crane operation and a second command input system 12 for manual operation control of tower crane operation, as needed. Simultaneously, the first command input system 11 can control the tower crane within a safe preset threshold range based on data collected by a second sensing module installed on the tower crane. When the data collected by the second sensing module exceeds the preset threshold, a stop command is immediately issued to ensure the safety of tower crane control. Furthermore, in the tower crane control system of this invention, the tower crane's motion control system is additionally equipped with a motion protection module that issues a stop command based on feedback signals from a third sensing module, achieving double insurance for the safety of tower crane motion control.

[0030] This invention also provides a method for intelligently upgrading a tower crane control system, used to upgrade a traditional, manually operated tower crane control system to the tower crane control system described in the above embodiments. Figure 3 The overall process of an intelligent upgrade method for a tower crane control system according to an embodiment of the present invention is illustrated schematically. This method can be applied to devices or systems connected to the tower crane control system for upgrading the tower crane control system, as shown in the reference diagram. Figure 3 As shown, the intelligent upgrade method for the tower crane control system of the present invention includes the following steps: Step S11: Receive the first data information of the tower crane uploaded, and determine whether the first condition is met based on the received first data information; Step S12: When the first condition is met, install the instruction selection switch into the tower crane control system; Step S13: Switch the instruction selection switch to the second instruction input system input and perform the first test; Step S14: Determine whether the second condition is met based on the results of the first test; Step S15: When the second condition is met, switch the instruction selection switch to the first instruction input system input and perform the second test; Step S16: Determine whether the third condition is met based on the results of the second test; Step S17: When the third condition is met, switch the instruction selection switch to the second instruction input system input and connect the first instruction input system to the tower crane control system; Step S18: Switch the instruction selection switch to the first instruction input system input and perform the calibration process on the tower crane control system.

[0031] In step S11, the first data information of the tower crane uploaded is received, which can be achieved through communication with external devices or systems. This communication can be wired, such as connecting to external devices via cable or inserting a USB flash drive. This first data information may include at least one of the following: modification design documents, modification process documents, inspection operation instructions, and design requirement self-inspection table. The modification design documents may include design task sheets, design calculation sheets, design drawings, installation, use, maintenance, and upkeep instructions, etc. The modification process documents at least include machining processes, welding processes, and assembly processes. The inspection operation instructions include inspection requirements for incoming goods, in-process, and outgoing stages, clearly defining the inspection basis, inspection and testing items, inspection and testing methods, technical requirements, inspection and testing instruments and equipment, and judgment rules. The design requirement self-inspection table may include several checkboxes, such as whether the tower crane's metal structure welding and non-destructive testing have been completed and passed, to confirm whether the tower crane is in good condition before the upgrade. After obtaining the first data information, it can be judged to confirm whether the first condition is met. The first condition can be designed to detect the presence of modified design documents, modified process documents, and inspection work instructions, while ensuring that each item in the design requirement self-check list is completed. Specifically, the required documents in the design documents, modified process documents, and inspection work instructions, or whether only a few items from the design requirement self-check list are required, can be set according to actual circumstances; this invention does not impose any limitations on this. Upon confirming that each item in the design requirement self-check list is completed, the received design requirement self-check list can be processed using natural language processing to identify its content and determine whether each item is complete. Specific processing methods can be found in existing descriptions of natural language processing technology; this part will not be elaborated upon here.

[0032] After completing step S11, if the first condition is not met, the current upgrade is immediately interrupted. This can be achieved by supplementing and uploading the first data information to satisfy the first condition. Once the first condition is confirmed to be met, step S12 can be executed. In step S12, the instruction selection switch can be installed by the operator. In the device or system implementing the intelligent upgrade method for the tower crane control system of this invention, whether the instruction selection switch has been installed can be confirmed by interacting with the buttons on the interactive interface of the device or system, or by interacting with the physical buttons on the device or system.

[0033] After completing step S12, step S13 can be executed to switch the input of the tower crane's motion control system to the second command input system via the control command selection switch, and perform a first test. The second command input system is the original tower crane's input system for inputting manual operation commands. The first test is to detect whether the control of the second command input system is abnormal due to the installation of the command selection switch. Specifically, the first test can be implemented by the operator using the second command input system to input a first action and obtain data from the first sensor on the tower crane associated with the first action. For example, the first action can be set to drive the trolley to luff position. In this case, the first sensor can be the running encoder installed on the trolley luffing mechanism, or a third sensing module installed on the tower crane, such as a limit switch. Of course, the first action can also include other movements on the tower crane. To ensure that the tower crane is not abnormal when controlled by the second command input system, the first action can cover as many different actuator action commands as possible, such as the lowering and raising of the hook, the rotation of the boom, etc. Correspondingly, the first sensor to acquire data also corresponds to the first action to ensure that abnormal control can be detected.

[0034] After completing step S13, step S14 can be executed to determine whether the second condition is met based on the result obtained in step S13, i.e., based on the data from the first sensor. Specifically, the second condition can be set as the data from the first sensor reaching a preset threshold. It can be understood that for data from the first sensor with only one data point, it is sufficient for that single data point to reach the preset threshold. For data from the first sensor with multiple data points, each data point needs to reach its corresponding preset threshold; that is, the encoder value needs to reach its corresponding preset threshold, and the angle sensor value also needs to reach its corresponding preset threshold. These preset thresholds are used to determine whether the actuator has completed its first action. For example, if the encoder value does not reach the preset threshold, it indicates that the corresponding actuator's action is incomplete, and thus, the current control is considered abnormal. Conversely, if the encoder value reaches the preset threshold, it indicates that the corresponding actuator's action is complete, and each first sensor's data point reaches its preset threshold, thus, the current control is considered normal.

[0035] After completing step S14, if the second condition is not met, the current upgrade is immediately interrupted. This can be achieved by on-site operators adjusting the tower crane control system to eliminate control anomalies. At this time, the device or system interface may display interactive buttons such as "Retest" to re-execute the first test and the judgment of the second condition after the operator eliminates the anomaly. When the second condition is confirmed to be met, step S15 can be executed. In step S15, the input of the tower crane's motion control system can be switched to the first command input system input via a control command selection switch, and a second test is performed. The first command input system is a newly installed input system after the upgrade for inputting intelligent operation commands. The second test is used to detect whether the second command input system can still control the tower crane when the command selection switch is switched to the first command input system input. Specifically, the second test can be implemented by the operator using the second command input system to input a second action and obtain data from the second sensor on the tower crane associated with the second action. The second action input here can be the same as the aforementioned first action, or it can be set to be different from the aforementioned first action. Similarly, when the input second action is the same as the aforementioned first action, the second sensor to acquire data is also the same as the first sensor. Since the execution logic is the same as the aforementioned first action and first sensor, it can be referred to the description of step S13 above, and will not be repeated here.

[0036] After completing step S15, step S16 can be executed to determine whether the third condition is met based on the result obtained in step S15, i.e., based on the data from the second sensor. Specifically, the third condition can be set as the data from the second sensor remaining unchanged. Similarly, for data from a second sensor with only one data point, it is sufficient that that data point remains unchanged. For data from a second sensor with multiple data points, all data points must remain unchanged. When all detected data points remain unchanged, it indicates that the tower crane cannot be controlled via the second command input system, meaning the command selection switch is functioning normally.

[0037] After completing step S16, if the third condition is not met, the current upgrade is immediately interrupted. This can be achieved by having on-site operators reinstall or replace the command selection switch to eliminate the control anomaly. At this time, the device or system interface can display interactive buttons such as "Retest" to allow the second test and third condition judgment to be re-executed after the operator eliminates the anomaly. When the third condition is confirmed to be met, step S17 is executed to switch the input to the second command input system via the control command selection switch and install the first command input system, connecting it to the tower crane control system. In this step, the first command input system can be installed by the operator. In the device or system implementing the intelligent upgrade method for the tower crane control system of this invention, whether the first command input system has been installed can be confirmed by interacting with the buttons on the device or system's interactive interface, or by interacting with the physical buttons on the device or system.

[0038] After the installation of the first command input system is completed, step S18 can be executed so that the tower crane can perform the calibration process under the input control of the first command input system, so that the first command input system can operate correctly. Figure 4 The steps of the calibration process in the intelligent upgrade method for a tower crane control system according to an embodiment of the present invention are illustrated schematically. (Refer to...) Figure 4 As shown, the calibration process can be implemented by including the following steps: Step S21: Switch the instruction selection switch to the first instruction input system input; Step S22: Perform position calibration; Step S23: Perform sensor system calibration; Step S24: Perform operation command consistency calibration.

[0039] In the overall calibration process, step S21 is first executed to switch the input of the overall tower crane system to the first command input system, so as to calibrate the first command input system. Step S22 is the process of position calibration, the purpose of which is to make the internal coordinates of the first command input system correspond one-to-one with the actual physical position of the tower crane, including height, amplitude, slewing angle, base world coordinates, and hook three-dimensional position calibration. Specifically, it may include basic parameter input to input the actual parameters of the tower crane, including tower base coordinates, tower cap height, boom length, boom ratio, tail boom length, maximum / minimum amplitude, and maximum lifting height, and save them after verification. Then, height calibration, amplitude calibration, slewing angle calibration, and world coordinate calibration are performed respectively. The above calibration methods can be referred to the relevant descriptions in the prior art, and will not be described in detail in this embodiment. Step S23 is the process of sensing system calibration, the purpose of which is to complete the zero point, gain, external parameters, and time synchronization calibration of the body sensor and external sensing (camera, lidar, IMU, load sensor) to achieve spatiotemporal alignment of multiple sensors. Specifically, this may include calibration of the main sensor, calibration of external sensing sensors, and verification of sensing output. The calibration methods described above can be referred to in relevant descriptions in the prior art, and will not be elaborated upon in this embodiment. Step S24 is the process for calibrating the consistency of operation commands. Its purpose is to ensure complete consistency among the controller issuing commands, electrical execution, actual movement of the mechanism, and system feedback display, and to resolve issues such as reverse direction, speed mismatch, command missing steps, and asynchronous start / stop. Specifically, this may include direction consistency calibration, command-speed consistency calibration, command-feedback consistency calibration, limit switch and command linkage consistency calibration, and mode switching consistency calibration. The calibration methods described above can be referred to in relevant descriptions in the prior art, and will not be elaborated upon in this embodiment.

[0040] In addition, in some other possible implementations, the calibration process can further verify whether the motion protection module in the original tower crane system is operating normally after the first command input system is installed. Figure 5 The steps of the calibration process in another embodiment of the intelligent upgrade method for a tower crane control system of the present invention are illustrated schematically. (Refer to...) Figure 5 As shown, the calibration process can be implemented by including the following steps: Step S21: Switch the instruction selection switch to the first instruction input system input; Step S22: Perform position calibration; Step S23: Perform sensor system calibration; Step S24: Perform operation command consistency calibration; Step S25: Stop data acquisition by the second sensing module; Step S26: Control the tower crane to perform the third action through the first instruction input system to trigger the feedback signal of the third sensing module, and monitor whether a stop instruction has been received; Step S27: When a stop command is received, the data acquisition of the second sensing module is activated, and the tower crane is controlled to perform the fourth action to trigger the stop command through the first command input system, and the status of receiving the stop command is monitored. Step S28: Upon receiving a stop command, complete the acceptance test.

[0041] The execution of steps S21 to S24 is consistent with the aforementioned process and will not be repeated here. Step S25 is a step for stopping the protection logic of the first instruction input system. Since the protection logic of the first instruction input system depends on the acquisition of data collected by the second sensing module, stopping the acquisition of data by the second sensing module is sufficient to stop the protection logic of the first instruction input system. Specifically, stopping the acquisition of data by the second sensing module can be implemented by cutting off the acquisition of data by the second sensing module, or by temporarily disconnecting communication with the second sensing module, or by other implementation methods commonly used in the prior art. This invention does not limit this to any particular implementation method.

[0042] Next, step S26 is executed to control the tower crane to perform a third action using the first command input system to trigger the feedback signal of the third sensing module and monitor whether a stop command is received. Since the execution of the action protection module depends on the feedback signal of the third sensing module, the execution of the third action requires the ability to trigger the feedback signal of the third sensing module. The design of the third action can be similar to the aforementioned first and second actions, and will not be repeated here. After triggering the feedback signal of the third sensing module, the system simultaneously monitors whether a stop command is received in real time to determine whether the action protection module is executing normally.

[0043] If no stop command is received after completing step S26, it indicates that the action protection module is malfunctioning, and the current upgrade should be immediately interrupted. This can be addressed by having on-site operators maintain the tower crane system to eliminate the malfunction of the action protection module. At this time, the device or system interface may display interactive buttons such as "Retest" to allow the monitoring of the third action and stop command to be re-executed after the operator eliminates the malfunction. When a stop command is confirmed to be received, step S27 can be further executed to test the protection logic of the first command input system to ensure the overall operational safety of the tower crane. In step S27, data acquisition of the second sensing module is first activated, and then the fourth action is executed to trigger the protection logic of the first command input system. The fourth action can be similar to the aforementioned first, second, and third actions, and will not be repeated here. If no stop command is received, it indicates that the protection logic of the first command input system is malfunctioning, and the current upgrade should be immediately interrupted. Again, this can be addressed by having on-site operators maintain the first command input system to eliminate the malfunction of its protection logic. At this point, the device or system interface may display interactive buttons such as "Retest" to re-execute the monitoring of the fourth action and stop command after the operator eliminates the anomaly. When the stop command is confirmed to be received, it indicates that the protection logic of the first command input system is operating normally, completing the entire upgrade process of the tower crane control system.

[0044] The intelligent upgrade method for tower crane control systems of this invention enables the tower crane's control system to undergo first and second tests during upgrades to ensure that no major safety hazards arise during the upgrade process, thus preventing safety accidents during testing after the complete upgrade. Simultaneously, it ensures that the operation of the original tower crane system remains unchanged and that all safety protection designs within the tower crane control system function correctly, effectively reducing safety risks associated with upgraded tower cranes.

[0045] Figure 6 The schematic diagram illustrates the modular composition of an intelligent upgrade device for a tower crane control system according to an embodiment of the present invention. This intelligent upgrade device for a tower crane control system needs to be connected to the tower crane control system during operation, as shown in the reference diagram. Figure 6 As shown, the intelligent upgrade device for the tower crane control system specifically includes: The first condition judgment module 21 is used to receive the first data information of the tower crane uploaded, and to judge whether the first condition is met based on the received first data information; The instruction selection switch identification module 22 is used to confirm the installation of the instruction selection switch in response to the signal input by the operator when the first condition is met. The first test module 23 is used to switch the instruction selection switch to the second instruction input system input and perform the first test; The second condition judgment module 24 is used to determine whether the second condition is met based on the result of the first test. The second test module 25 is used to switch the instruction selection switch to the first instruction input system input and perform the second test when the second condition is met. The third condition judgment module 26 is used to determine whether the third condition is met based on the result of the second test. The first instruction input system identification module 27 is used to switch the instruction selection switch to the second instruction input system input when the third condition is met, and to confirm the installation of the first instruction input system in response to the signal input by the operator. The calibration module 28 is used to switch the instruction selection switch to the first instruction input system input and to perform the calibration process on the tower crane control system.

[0046] It should be noted that the implementation process and principle of the intelligent upgrade device for the tower crane control system in this embodiment of the invention can be specifically referred to in the corresponding descriptions of the above method embodiments, such as the corresponding descriptions of the execution of the first test and the second test, and the judgment of the first condition and the second condition in the method embodiments, and therefore will not be repeated here. Exemplarily, the intelligent upgrade device for the tower crane control system in this embodiment of the invention can be any intelligent device with a processor, including but not limited to computers, smartphones, personal computers, robots, cloud servers, etc.

[0047] In some embodiments, the present invention provides a non-volatile computer-readable storage medium storing one or more programs including execution instructions, which can be read and executed by electronic devices (including but not limited to computers, servers, or network devices) to perform the intelligent upgrade method for the tower crane control system of any of the above embodiments of the present invention.

[0048] In some embodiments, the present invention also provides a computer program product, the computer program product including a computer program stored on a non-volatile computer-readable storage medium, the computer program including program instructions, which, when executed by a computer, cause the computer to execute the intelligent upgrade method for the tower crane control system of any of the above embodiments.

[0049] In some embodiments, the present invention also provides an electronic device comprising: at least one processor and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to execute the intelligent upgrade method for the tower crane control system of any of the above embodiments.

[0050] In some embodiments, the present invention also provides a storage medium storing a computer program, characterized in that the program, when executed by a processor, implements the intelligent upgrade method for the tower crane control system of any of the above embodiments.

[0051] Figure 7 This is a schematic diagram of the hardware structure of an electronic device for an intelligent upgrade method of a tower crane control system provided in another embodiment of the present invention, as shown below. Figure 7 As shown, the device includes: One or more processors 710 and memory 720, Figure 7 Take the 710 processor as an example.

[0052] The equipment for implementing the intelligent upgrade method of the tower crane control system may also include: an input device 730 and an output device 740.

[0053] The processor 710, memory 720, input device 730, and output device 740 can be connected via a bus or other means. Figure 7 Taking the example of a connection between China and Israel via a bus.

[0054] The memory 720, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the intelligent upgrade method for the tower crane control system in this embodiment of the invention. The processor 710 executes various server functions and data processing by running the non-volatile software programs, instructions, and modules stored in the memory 720, thereby realizing the intelligent upgrade method for the tower crane control system in the above embodiment.

[0055] The memory 720 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the intelligent upgrade method for the tower crane control system. Furthermore, the memory 720 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 720 may optionally include memory remotely located relative to the processor 710, and these remote memories can be connected to electronic devices via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0056] The input device 730 can receive input digital or character information and generate signals related to user settings and function control of the image processing device. The output device 740 may include a display device such as a display screen.

[0057] The one or more modules are stored in the memory 720, and when executed by the one or more processors 710, the intelligent upgrade method of the tower crane control system in any of the above method embodiments is executed.

[0058] The above-described product can execute the method provided in the embodiments of the present invention, and has the corresponding functional modules and beneficial effects for executing the method. Technical details not described in detail in this embodiment can be found in the method provided in the embodiments of the present invention.

[0059] The electronic devices of this invention exist in various forms, including but not limited to: (1) Mobile communication devices: These devices are characterized by their mobile communication capabilities and primarily aim to provide voice and data communication. These terminals include: smartphones (e.g., iPhones), multimedia phones, feature phones, and low-end phones, etc.

[0060] (2) Ultra-mobile personal computer devices: These devices fall under the category of personal computers, possessing computing and processing capabilities, and generally also have mobile internet access features. These terminals include PDAs, MIDs, and UMPCs, such as the iPad.

[0061] (3) Portable entertainment devices: These devices can display and play multimedia content. This category includes audio and video players (such as iPods), handheld game consoles, e-book readers, as well as smart toys and portable car navigation devices.

[0062] (4) Server: A device that provides computing services. The components of a server include a processor, hard disk, memory, system bus, etc. Servers are similar to general computer architectures, but because they need to provide highly reliable services, they have higher requirements in terms of processing power, stability, reliability, security, scalability, and manageability.

[0063] (5) Other electronic devices with data interaction functions.

[0064] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0065] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software plus a general-purpose hardware platform, or of course, using hardware. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the related technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A tower crane control system, characterized in that, include: The first instruction input system includes a first sensing module, which is used to input intelligent operation instructions for controlling the operation of the tower crane based on the data collected by the first sensing module, and to obtain data collected by the second sensing module installed on the tower crane, and to issue a stop instruction when the data collected by the second sensing module exceeds a preset threshold. The second instruction input system is used to input manual operation instructions; An instruction selection switch is connected to the first instruction input system and the second instruction input system, and is also connected to the tower crane's motion control system, for switching the input of the motion control system between the first instruction input system and the second instruction input system; The motion control system includes a controller module, an actuator, and a motion protection module. The controller module is connected to the instruction selection switch and is used to receive input intelligent operation instructions or manual operation instructions, and control the actuator to perform corresponding actions according to the input intelligent operation instructions or manual operation instructions. The motion protection module is connected between the controller module and the actuator and is used to issue a stop command when it receives a signal from a third sensing module installed on the tower crane.

2. The tower crane control system according to claim 1, characterized in that, The first sensing module includes at least one of lidar, sensor, and visual sensing module.

3. A method for intelligently upgrading a tower crane control system, used to upgrade a manually operated tower crane control system to the tower crane control system described in any one of claims 1 to 2, characterized in that, include: Receive the first data information uploaded by the tower crane, and determine whether the first condition is met based on the received first data information; When the first condition is met, the instruction selection switch will be installed in the tower crane control system; Switch the instruction selection switch to the second instruction input system input and perform the first test; Determine whether the second condition is met based on the results of the first test; When the second condition is met, the instruction selection switch is switched to the first instruction input system input, and the second test is performed; Determine whether the third condition is met based on the results of the second test; When the third condition is met, the instruction selection switch is switched to the second instruction input system input, and the first instruction input system is connected to the tower crane control system. Switch the command selection switch to the first command input system input and perform the calibration process on the tower crane control system.

4. The intelligent upgrade method for the tower crane control system according to claim 3, characterized in that, The first data information includes at least one of the following: modification design documents, modification process documents, and inspection operation instructions; The first condition is that the received files include modification design documents, modification process documents, and inspection operation instructions.

5. The intelligent upgrade method for tower crane control system according to claim 4, characterized in that, The first data information also includes a design requirement self-check sheet; The first condition also includes that each item in the design requirements self-check list has been completed.

6. The intelligent upgrade method for tower crane control system according to claim 3, characterized in that, The first test includes: The operator inputs the first action through the second command input system; Acquire data from the first sensor on the tower crane that is associated with the first action, wherein the first sensor is a sensor in the original tower crane control system; The second condition includes: The data from the first sensor has reached a preset threshold.

7. The intelligent upgrade method for tower crane control system according to claim 3, characterized in that, The second test includes: The operator inputs the second action through the second command input system; Data from a second sensor on the tower crane associated with the second action is acquired, wherein the second sensor is a sensor in the original tower crane control system; The third condition includes: The data from the second sensor remains unchanged.

8. The intelligent upgrade method for tower crane control system according to claim 3, characterized in that, The calibration process includes: Switch the instruction selection switch to the first instruction input system input; Perform position calibration; Perform sensor system calibration; Perform operation command consistency calibration.

9. The intelligent upgrade method for tower crane control system according to claim 3, characterized in that, The calibration process also includes: Stop data acquisition by the second sensing module; The system controls the tower crane to execute the third action by inputting the first command to trigger the feedback signal of the third sensing module and monitor whether a stop command has been received. Upon receiving a stop command, the second sensing module is activated to acquire data. The system is then controlled to execute a fourth action via the first command input to trigger the stop command, and the system monitors whether a stop command has been received. Upon receiving a stop command, the acceptance test is completed.

10. A smart upgrade device for a tower crane control system, characterized in that, include: The first condition judgment module is used to receive the first data information of the tower crane uploaded, and to determine whether the first condition is met based on the received first data information; The instruction selection switch recognition module is used to confirm the installation of the instruction selection switch in response to the signal input by the operator when the first condition is met. The first test module is used to switch the instruction selection switch to the second instruction input system input and perform the first test; The second condition judgment module is used to determine whether the second condition is met based on the result of the first test. The second test module is used to switch the instruction selection switch to the first instruction input system input and perform the second test when the second condition is met. The third condition judgment module is used to determine whether the third condition is met based on the result of the second test. The first instruction input system identification module is used to switch the instruction selection switch to the second instruction input system input when the third condition is met, and to confirm the installation of the first instruction input system in response to the signal input by the operator. The calibration module is used to switch the instruction selection switch to the first instruction input system input and to perform the calibration process on the tower crane control system.

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