A multi-device linkage control system for building construction

Abstract

The application discloses a kind of building construction multi-device linkage control systems, belong to building construction intelligent equipment control technical field, contain perception layer, transmission layer, dispatching layer, execution layer and monitoring layer, two-way data transmission channel is established between each level and forms closed loop control structure, perception layer, transmission layer, dispatching layer, execution layer, monitoring layer complete information collection, data transmission, instruction generation, action execution and state monitoring in turn, execution layer contains unmanned tower crane, unmanned elevator and automatic guided forklift, the whole safety joint control system of system construction realizes multi-equipment anti-collision, overload partial load linkage protection, fault linkage emergency full-dimension safety guarantee, through centimeter level high-precision positioning and real-time environmental perception, collision risk is early warned and protection instruction is automatically triggered, effectively eliminates the collision hidden danger of tower crane, elevator, AGV forklift collaborative operation.

Description

Technical Field

[0001] This invention relates to the field of intelligent equipment control technology in building construction, and more specifically, to a multi-equipment linkage control system for building construction. Background Technology

[0002] In recent years, intelligent construction and building industrialization have become the core directions for the development of the construction industry. Intelligent construction equipment such as unmanned tower cranes, unmanned construction elevators, and AGV forklifts are gradually being promoted and applied on construction sites, driving the transformation of construction towards less manned and unmanned operations. Various unmanned equipment achieves automated single-machine operation in material handling, vertical transportation, and horizontal distribution, effectively improving the operational accuracy and stability of construction equipment and providing a hardware foundation for efficient and standardized operations on construction sites. With the continuous increase in the types and numbers of intelligent equipment on construction sites, multi-equipment collaborative operation has become a necessary form to meet the needs of large-scale, high-efficiency material handling.

[0003] In the prior art, patent CN119087836A discloses a building energy-saving control system for construction sites. It includes an energy monitoring module, an environmental monitoring module, an equipment management module, an energy analysis module, an environmental analysis module, a personnel positioning and control module, and a real-time scheduling module. The equipment management module maintains and manages the equipment at each construction site. The personnel positioning and control module uses positioning technology to obtain the distribution of construction personnel on site and then rationally allocates energy according to the energy needs of different equipment. The real-time scheduling module intelligently controls lighting and ventilation equipment in specific areas based on real-time environmental parameters. This invention makes real-time monitoring of energy consumption and intelligent control of equipment operation a reality, laying a solid technical foundation for the research and application of building energy-saving control systems for construction sites.

[0004] Although the system enables real-time monitoring of energy consumption and intelligent control of equipment operation, laying a solid technical foundation for the research and application of building energy-saving control systems on construction sites, most unmanned tower cranes, unmanned elevators, and AGV forklifts on current construction sites adopt independent control modes, each equipped with its own dedicated control system and operating terminal. There is a lack of unified data interaction interfaces and collaborative scheduling mechanisms between the equipment, forming obvious information silos. In the single-machine independent operation mode, processes such as tower crane unloading, forklift receiving, and elevator transfer rely on manual scheduling and connection, which can easily lead to problems such as process misalignment, excessive waiting time, and discontinuous operation flow, making it difficult to improve overall operation efficiency. The positioning systems of each device work independently, and the spatial positioning coordination accuracy is insufficient. Deviations are prone to occur at unloading points, connection points, and docking points, still requiring manual assistance for correction, making it impossible to achieve the goal of fully unmanned operation. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a multi-equipment linkage control system for building construction, which solves the aforementioned problems.

[0006] To achieve the aforementioned objectives, the present invention provides the following technical solution: a multi-equipment linkage control system for building construction, comprising a sensing layer, a transmission layer, a scheduling layer, an execution layer, and a monitoring layer. A bidirectional data transmission channel is established between each layer to form a closed-loop control structure. The sensing layer, transmission layer, scheduling layer, execution layer, and monitoring layer sequentially complete information acquisition, data transmission, instruction generation, action execution, and status monitoring. The execution layer includes unmanned tower cranes, unmanned elevators, and automated guided forklifts. The scheduling layer establishes control connections with the unmanned tower cranes, unmanned elevators, and automated guided forklifts respectively. The scheduling layer generates linkage control instructions based on the acquired information and sends them to the execution layer. The execution layer completes material transfer-related operations according to the control instructions. The monitoring layer maintains data interaction with the scheduling layer. A comprehensive safety linkage control structure is set up within the system, which runs through the sensing layer, transmission layer, scheduling layer, and execution layer.

[0007] Preferably, the perception layer includes a high-precision positioning module, an environmental perception sensor, an equipment status sensor, and a material identification sensor. The high-precision positioning module is respectively arranged on the body structure of the unmanned tower crane, the unmanned elevator, and the automated guided forklift. The environmental perception sensor is distributed in the fixed area of ​​the construction site and on the surface of the execution layer mobile equipment. The equipment status sensor is connected to the drive structure, transmission structure, and load-bearing structure of the unmanned tower crane, the unmanned elevator, and the automated guided forklift. The material identification sensor is set in the material storage area and the load-bearing area of ​​the execution layer. The output end of each acquisition unit of the perception layer is electrically connected to the input end of the transmission layer.

[0008] Preferably, the transmission layer includes a wireless communication unit and a wired communication unit. The wireless communication unit adopts fifth-generation mobile communication transmission mode, and the wired communication unit adopts industrial Ethernet transmission mode. A redundant switching structure is set between the wireless communication unit and the wired communication unit. The transmission layer is equipped with a communication gateway, which is connected to the output end of the perception layer, the input end of the scheduling layer, the input end of the execution layer, and the input end of the monitoring layer, respectively. The transmission layer completes data format conversion and signal forwarding between different layers through the communication gateway.

[0009] Preferably, the scheduling layer includes a central processing unit, a storage unit, and a data interaction interface. The input end of the central processing unit is connected to the output end of the transmission layer, and the output end of the central processing unit is respectively connected to the control end of the unmanned tower crane, the control end of the unmanned elevator, and the control end of the automated guided forklift. The storage unit establishes a bidirectional data reading channel with the central processing unit, and the data interaction interface establishes a data connection with the external control platform and the field management terminal. The data interaction interface is compatible with the control protocols of multiple types of execution layer devices.

[0010] Preferably, the scheduling layer internally sets up a task allocation structure, a path planning structure, and a process connection structure. The task allocation structure determines the operation allocation relationship of the execution layer equipment based on the collected information, the path planning structure determines the movement path of the execution layer equipment based on the spatial location information, and the process connection structure determines the operation sequence of the unmanned tower crane, unmanned elevator, and automated guided forklift based on the operation process. The task allocation structure, path planning structure, and process connection structure work together to complete the linkage scheduling of the execution layer equipment.

[0011] Preferably, the system is equipped with a linkage control structure between the unmanned tower crane and the automated guided forklift. The working end of the unmanned tower crane and the carrying end of the automated guided forklift maintain a positional correspondence. The driving end of the unmanned tower crane and the driving end of the automated guided forklift are both connected to the output end of the scheduling layer. The scheduling layer adjusts the working posture of the unmanned tower crane according to the positioning information and adjusts the parking posture of the automated guided forklift according to the position information. A position matching trigger structure is set between the unmanned tower crane and the automated guided forklift.

[0012] Preferably, the system is equipped with a linkage control structure for the unmanned tower crane and the unmanned elevator. The unloading area of ​​the unmanned tower crane and the loading area of ​​the unmanned elevator are spatially connected. The drive end of the unmanned elevator is connected to the output end of the scheduling layer. The scheduling layer controls the floor where the unmanned elevator operates based on the floor status information, and controls the unloading position of the unmanned tower crane based on the material information. A floor feedback structure is set between the unmanned elevator and the scheduling layer. Preferably, the system is equipped with a linkage control structure between the unmanned elevator and the automated guided forklift, a positioning and guidance structure between the interior of the unmanned elevator car and the moving path of the automated guided forklift, a status locking structure between the automated guided forklift and the unmanned elevator car, and the door control terminal of the unmanned elevator and the parking control terminal of the automated guided forklift are connected to the same control node. The scheduling layer controls the linkage action between the unmanned elevator and the automated guided forklift according to the connection status.

[0013] Preferably, the global safety control structure includes a space monitoring unit, a parameter monitoring unit, and an emergency processing unit. The space monitoring unit collects the relative position information of the execution layer devices in real time, the parameter monitoring unit collects the operating load information of the execution layer devices in real time, the input end of the emergency processing unit is connected to the space monitoring unit and the parameter monitoring unit, the output end of the emergency processing unit is connected to the execution layer drive control end, and the emergency processing unit generates emergency control commands based on the monitoring information.

[0014] Preferably, the system adopts a modular assembly structure. The perception layer, transmission layer, scheduling layer, execution layer, and monitoring layer are all independent assembly modules. The modules are connected through standard interfaces. On-site deployment is carried out in the following order: deployment of the perception layer, networking of the transmission layer, debugging of the scheduling layer, docking of the execution layer, and assembly of the monitoring layer. After the system is deployed, single-device debugging and multi-device linkage debugging of unmanned tower cranes, unmanned elevators, and automated guided forklifts are performed.

[0015] Compared with the prior art, the present invention provides a multi-equipment linkage control system for building construction, which has the following beneficial effects: 1. This multi-equipment linkage control system for building construction constructs a comprehensive safety linkage control system, achieving all-dimensional safety assurance through multi-equipment collision prevention, overload and off-center load linkage protection, and fault linkage emergency response. Through centimeter-level high-precision positioning and real-time environmental perception, it provides early warning of collision risks and automatically triggers protection commands, effectively eliminating collision hazards in the collaborative operation of tower cranes, elevators, and AGV forklifts. The overload and off-center load linkage protection and fault emergency response mechanisms prevent construction safety accidents and schedule delays caused by equipment failures, significantly improving the operational safety of construction material transfer and fundamentally reducing the incidence of construction safety accidents.

[0016] 2. This multi-equipment linkage control system for building construction achieves seamless, manual connection of the entire material transfer process through multi-module precise linkage control logic and intelligent scheduling algorithms. It completely eliminates manual scheduling and auxiliary adjustments, significantly reducing waiting time for each piece of equipment and time required for process connections. The dynamic load balancing scheduling algorithm optimizes equipment resource allocation, preventing resource idleness and overload operation, and improving equipment operating efficiency. Simultaneously, the automatic connection and automatic loading / unloading design of elevators and AGV forklifts further enhances the overall efficiency of material transfer, effectively shortening the construction period.

[0017] 3. This multi-equipment linkage control system for building construction realizes truly unmanned collaborative operation in the material transfer process of building construction, completely replacing the manual operation of scheduling, receiving, connecting, loading and unloading in the traditional mode, and significantly reducing labor costs; at the same time, the system's visual monitoring and intelligent scheduling reduce the workload of on-site management personnel, improve management efficiency, further save management labor costs, and realize full-process saving of labor costs in building construction.

[0018] 4. This multi-equipment linkage control system for building construction, with its core features of omni-domain perception, intelligent scheduling, and precise linkage, fully aligns with national policies for intelligent construction and building industrialization. It upgrades the traditional single-machine unmanned equipment operation mode to an intelligent operation mode of multi-equipment collaborative linkage, promoting the upgrade of building construction from "single-machine unmanned" to "omni-domain unmanned," and providing core technical support for the unmanned and intelligent development of building construction. Simultaneously, the construction data cloud platform built by the system enables real-time collection, analysis, and visualization of operational data, promoting refined and data-driven management of building construction and improving the overall intelligent construction level of the project.

[0019] 5. This multi-equipment linkage control system for building construction features an independently developed dynamic load balancing scheduling algorithm. This algorithm dynamically allocates tasks based on the material transfer volume and equipment operating status at the construction site, achieving load balancing among unmanned equipment. This avoids resource waste caused by some equipment operating under overload and others being idle, thus improving the utilization rate of intelligent equipment. Simultaneously, the system's standardized data interaction interface enables plug-and-play operation of intelligent equipment of different brands and models, eliminating the need for large-scale modifications to existing equipment. This reduces the cost of equipment upgrades and system application modifications, maximizing the utilization of intelligent equipment resources.

[0020] 6. This multi-equipment linkage control system for building construction features a modular and prefabricated design, simplifying on-site deployment and commissioning. It allows for flexible adjustment of the sensor layer equipment layout and scheduling algorithm parameters based on the scale of the construction site, construction stage, and material handling needs. It is adaptable to various construction scenarios, including residential buildings, industrial plants, and commercial complexes, as well as different construction stages such as main structure, decoration, and prefabricated component installation. Furthermore, the system is compatible with mainstream brands of unmanned intelligent equipment, significantly improving its versatility and reusability. It can be rapidly deployed and applied in different construction projects, demonstrating broad application prospects. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the present invention. Detailed Implementation

[0022] 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, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0023] Please see Figure 1 The present invention provides a technical solution: This embodiment discloses a multi-equipment linkage control system for building construction, applicable to the collaborative material handling operations of unmanned tower cranes, unmanned elevators, and automated guided forklifts on construction sites. Through comprehensive perception, unified scheduling, precise linkage, and safety control, it achieves fully automated operation of multiple devices throughout the entire process. The system adopts a modular, prefabricated structure, facilitating convenient on-site deployment and adapting to the material handling needs of various building construction scenarios.

[0024] This system consists of five parts: a perception layer, a transmission layer, a scheduling layer, an execution layer, and a monitoring layer. Bidirectional data transmission channels are established between all layers to form a complete closed-loop control system. The execution layer includes three types of operation equipment: an unmanned tower crane, an unmanned elevator, and an automated guided forklift, which are direct execution units for material transportation. As the core of the system, the scheduling layer establishes stable control connections with the unmanned tower crane, the unmanned elevator, and the automated guided forklift respectively, generates coordinated control instructions based on the global information collected by the perception layer, and issues the instructions in real time. The monitoring layer maintains continuous data interaction with the scheduling layer for visual display of operation status and manual intervention operations. A global safety joint control structure is arranged inside the system, which runs through the perception layer, the transmission layer, the scheduling layer and the execution layer, so as to ensure the stability and safety of multi-equipment coordinated operation in the whole process.

[0025] The perception layer is composed of a high-precision positioning module, environment perception sensors, equipment status sensors and material identification sensors. The high-precision positioning modules are respectively installed at the end of the spreader of the unmanned tower crane, the exterior of the car of the unmanned elevator, and the corresponding positions on the body of the automated guided forklift, for acquiring the spatial coordinates and attitude information of the three types of equipment in real time. The environment perception sensors are distributed in the operation area of the construction site, the slewing range of the unmanned tower crane, the entrances and exits of the unmanned elevator, and both sides of the traveling path of the automated guided forklift, for collecting on-site obstacle information, spatial distance parameters and the environmental state of the operation area. The equipment status sensors are directly connected with the driving structure, transmission structure and bearing structure of the unmanned tower crane, the traction structure, door structure and car structure of the unmanned elevator, and the traveling structure, steering structure and bearing structure of the automated guided forklift respectively, for collecting the operation parameters and working states of various types of equipment. The material identification sensors are correspondingly arranged in the material storage area, the unloading position of the unmanned tower crane, the loading platform of the unmanned elevator and the bearing table of the automated guided forklift, for collecting relevant characteristic information of the transported materials. The output ends of all collection units in the perception layer are electrically connected with the input end of the transmission layer, so as to ensure that the collected information can be uploaded stably.

[0026] The transmission layer is composed of a wireless communication unit, a wired communication unit and a communication gateway. The wireless communication unit adopts the 5th generation mobile communication transmission mode, and is responsible for data transmission between the mobile equipment in the execution layer and the scheduling layer. The wired communication unit adopts the industrial Ethernet transmission mode, and is responsible for data interaction between the on-site fixed equipment and the scheduling layer. A redundancy switching structure is arranged between the wireless communication unit and the wired communication unit. When one of the transmission modes is abnormal, the system automatically switches to the other transmission mode to ensure that the data transmission is not interrupted. The communication gateway arranged in the transmission layer is respectively connected with the output end of the perception layer, the input end of the scheduling layer, the input end of the execution layer and the input end of the monitoring layer. The communication gateway completes data format conversion, signal amplification and instruction forwarding between different layers, so as to ensure smooth information interaction between all layers.

[0027] The scheduling layer consists of a central processing unit, a storage unit, a data interaction interface, a task allocation structure, a path planning structure, and a process connection structure. The input end of the central processing unit is directly connected to the output end of the transmission layer, receiving all collected information uploaded by the perception layer. The output ends of the central processing unit are connected to the control terminals of the unmanned tower crane, unmanned elevator, and automated guided forklift, respectively, for issuing scheduling and action commands. The storage unit establishes a bidirectional data reading channel with the central processing unit to store site map data, equipment parameters, task information, historical operating data, and safety threshold parameters. The data interaction interface establishes data connections with external control platforms and site management terminals. The interface is compatible with the control protocols of multiple types of execution layer equipment, enabling rapid access for unmanned tower cranes, unmanned elevators, and automated guided forklifts of different brands and models. The task allocation structure within the scheduling layer determines the work allocation relationships of each piece of equipment in the execution layer based on the on-site task volume, equipment location, and equipment status information uploaded by the perception layer. The path planning structure calculates and determines the operating path of the unmanned tower crane, the lifting path of the unmanned elevator, and the travel path of the automated guided forklift based on spatial location information and environmental obstacle information. The process connection structure is based on the material transfer operation process, which determines the start-up sequence, operation sequence and connection sequence of unmanned tower cranes, unmanned elevators and automated guided forklifts, and realizes the collaborative operation of multiple equipment through sequence matching.

[0028] The system employs a coordinated control structure between the unmanned tower crane and the automated guided forklift (AGT). The working end of the unmanned tower crane and the carrying end of the AGT maintain a preset positional correspondence. Both the drive ends of the unmanned tower crane and the AGT are connected to the output of the scheduling layer, which controls them centrally. Based on the position information uploaded by the high-precision positioning module, the scheduling layer adjusts the working posture of the unmanned tower crane in real time, ensuring precise alignment between the lifting device and the carrying position of the AGT. The scheduling layer also adjusts the travel path and parking posture of the AGT based on real-time positioning information, ensuring stable parking at the designated receiving position. A position matching trigger structure is established between the unmanned tower crane and the AGT; when their positions reach a preset matching state, subsequent unloading and receiving actions are triggered.

[0029] The system employs a linkage control structure between the unmanned tower crane and the unmanned elevator. The unloading area of ​​the unmanned tower crane and the loading area of ​​the unmanned elevator maintain a fixed spatial connection to ensure smooth material transfer. The unmanned elevator's drive unit is connected to the dispatching layer's output, which controls its lifting, starting, stopping, and door movement. Based on the floor status information uploaded by the unmanned elevator, the dispatching layer controls the elevator to the designated floor. Based on material information and floor demand information, the dispatching layer controls the unloading position of the unmanned tower crane, ensuring precise placement of materials in the unmanned elevator's loading area. A floor feedback structure is established between the unmanned elevator and the dispatching layer, uploading real-time information such as the current floor, door status, and car status to the dispatching layer.

[0030] The system employs a linkage control structure between the automated guided elevator (AGE) and the automated guided forklift (AGT). A positioning and guidance structure is installed between the AGE car and the AGT's travel path to guide the AGT to accurately enter its designated position within the car. A status locking structure is established between the AGT and the AGE car; once the AGT is fully inside the car and positioned, the status locking structure activates, securing the forklift. The AGE door control and the AGT parking control are connected to the same control node, with the coordinated actions controlled by the dispatching layer. Based on the connection status information, the dispatching layer controls the coordinated execution of door opening and closing, AGT parking, and car lifting / lowering.

[0031] The comprehensive safety control structure consists of a spatial monitoring unit, a parameter monitoring unit, and an emergency response unit. The spatial monitoring unit collects real-time relative position information and distance parameters between unmanned tower cranes, unmanned elevators, and automated guided forklifts to determine if there is any spatial interference risk between the devices. The parameter monitoring unit collects real-time parameters such as operating load, operating speed, operating current, and attitude angle of the three types of equipment to determine if the equipment is in an abnormal operating state. The emergency response unit's input is connected to both the spatial monitoring unit and the parameter monitoring unit, receiving and processing the monitoring data. The emergency response unit's output is connected to the drive control terminals of each device in the execution layer. When the monitoring data exceeds a preset range, the emergency response unit directly generates an emergency control command to control the corresponding equipment to perform deceleration, shutdown, or avoidance actions.

[0032] The system adopts a modular assembly structure, with the sensing layer, transmission layer, scheduling layer, execution layer, and monitoring layer all being independent and detachable modules. These modules are quickly connected via standard electrical and data interfaces. During on-site deployment, the process proceeds sequentially: sensor layer equipment installation, transmission layer network setup, scheduling layer program installation and parameter configuration, execution layer equipment interface integration, and monitoring layer terminal assembly. After deployment, single-device functional debugging of the unmanned tower crane, unmanned elevator, and automated guided forklift is conducted, followed by pairwise device linkage debugging. Finally, full-process multi-device linkage simulation testing and on-site trial operation are carried out to confirm system stability, smooth linkage, and safety and reliability before formal deployment.

[0033] The multi-equipment linkage control system for building construction provided in this embodiment achieves fully automated collaborative operation of unmanned tower cranes, unmanned elevators, and automated guided forklifts through a five-layer architecture and multi-module linkage control, meeting the intelligent and unmanned operation requirements for the transfer of building construction materials.

[0034] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-equipment linkage control system for building construction, characterized in that, Comprising a perception layer, a transmission layer, a scheduling layer, an execution layer and a monitoring layer, a bidirectional data transmission channel is established between each layer to form a closed-loop control structure. The perception layer, transmission layer, scheduling layer, execution layer and monitoring layer sequentially complete information collection, data transmission, instruction generation, action execution and status monitoring. The execution layer includes an unmanned tower crane, an unmanned elevator and an automated guided forklift. The scheduling layer establishes control connections with the unmanned tower crane, the unmanned elevator and the automated guided forklift respectively. The scheduling layer generates a joint control instruction according to the collected information and issues the same to the execution layer, and the execution layer completes operations related to material handling according to the control instruction. The monitoring layer maintains data interaction with the scheduling layer, a global safety joint control structure is arranged inside the system, and the safety joint control structure runs through the perception layer, the transmission layer, the scheduling layer and the execution layer.

2. The multi-equipment linkage control system for building construction according to claim 1, characterized in that, The perception layer comprises a high-precision positioning module, an environment perception sensor, an equipment status sensor and a material identification sensor. The high-precision positioning module is respectively arranged on the body structures of the unmanned tower crane, the unmanned elevator and the automated guided forklift. The environment perception sensors are distributed in fixed areas of the construction site and on the surfaces of mobile devices of the execution layer. The equipment status sensor is connected with the driving structure, transmission structure and bearing structure of the unmanned tower crane, the unmanned elevator and the automated guided forklift. The material identification sensor is arranged corresponding to the material storage area and the bearing area of the execution layer, and the output end of each collection unit in the perception layer is electrically connected with the input end of the transmission layer.

3. The multi-equipment linkage control system for building construction according to claim 1, characterized in that, The transmission layer comprises a wireless communication unit and a wired communication unit. The wireless communication unit adopts a 5th generation mobile communication transmission mode, the wired communication unit adopts an industrial Ethernet transmission mode, and a redundancy switching structure is arranged between the wireless communication unit and the wired communication unit. The transmission layer is provided with a communication gateway, and the communication gateway is respectively connected with the output end of the perception layer, the input end of the scheduling layer, the input end of the execution layer and the input end of the monitoring layer. The transmission layer completes data format conversion and signal forwarding between different layers through the communication gateway.

4. The multi-equipment linkage control system for building construction according to claim 1, characterized in that, The scheduling layer comprises a central processing unit, a storage unit and a data interaction interface. The input end of the central processing unit is connected with the output end of the transmission layer, and the output end of the central processing unit is respectively connected with the control end of the unmanned tower crane, the control end of the unmanned elevator and the control end of the automated guided forklift. The storage unit establishes a bidirectional data reading channel with the central processing unit, the data interaction interface establishes a data connection with an external control platform and a site management terminal, and the data interaction interface is compatible with control protocols of multiple types of execution layer devices.

5. The multi-equipment linkage control system for building construction according to claim 1, characterized in that, A task allocation structure, a path planning structure and a process connection structure are arranged inside the scheduling layer. The task allocation structure determines the operation allocation relationship of the execution layer devices according to the collected information, the path planning structure determines the moving paths of the execution layer devices according to the spatial position information, and the process connection structure determines the operation sequence of the unmanned tower crane, the unmanned elevator and the automated guided forklift according to the operation flow. The task allocation structure, the path planning structure and the process connection structure cooperatively complete the joint scheduling of the execution layer devices.

6. The multi-equipment linkage control system for building construction according to claim 1, characterized in that, The system is equipped with a linkage control structure between unmanned tower cranes and automated guided forklifts. The working end of the unmanned tower crane and the carrying end of the automated guided forklift maintain a positional correspondence. The driving ends of the unmanned tower crane and the automated guided forklift are both connected to the output end of the scheduling layer. The scheduling layer adjusts the working posture of the unmanned tower crane based on the positioning information and adjusts the parking posture of the automated guided forklift based on the position information. A position matching trigger structure is set between the unmanned tower crane and the automated guided forklift.

7. The multi-equipment linkage control system for building construction according to claim 1, characterized in that, The system is equipped with a linkage control structure for unmanned tower cranes and unmanned elevators. The unmanned tower crane unloading area and the unmanned elevator loading area are spatially connected. The unmanned elevator drive end is connected to the dispatching layer output end. The dispatching layer controls the unmanned elevator to operate on the floor based on the floor status information. The dispatching layer controls the unmanned tower crane unloading position based on the material information. A floor feedback structure is set between the unmanned elevator and the dispatching layer.

8. The multi-equipment linkage control system for building construction according to claim 1, characterized in that, The system is equipped with a linkage control structure between unmanned elevators and automated guided forklifts. A positioning and guidance structure is set between the interior of the unmanned elevator car and the moving path of the automated guided forklift. A status locking structure is set between the automated guided forklift and the unmanned elevator car. The door control terminal of the unmanned elevator and the parking control terminal of the automated guided forklift are connected to the same control node. The scheduling layer controls the linkage action of the unmanned elevator and the automated guided forklift according to the connection status.

9. The multi-equipment linkage control system for building construction according to claim 1, characterized in that, The comprehensive safety control structure includes a space monitoring unit, a parameter monitoring unit, and an emergency processing unit. The space monitoring unit collects the relative position information of the execution layer devices in real time, the parameter monitoring unit collects the operating load information of the execution layer devices in real time, the input end of the emergency processing unit is connected to the space monitoring unit and the parameter monitoring unit, and the output end of the emergency processing unit is connected to the execution layer drive control end. The emergency processing unit generates emergency control commands based on the monitoring information.

10. The multi-equipment linkage control system for building construction according to claim 1, characterized in that, The system adopts a modular assembly structure. The perception layer, transmission layer, scheduling layer, execution layer, and monitoring layer are all independent assembly modules. The modules are connected through standard interfaces. On-site deployment is carried out in the following order: deployment of the perception layer, networking of the transmission layer, debugging of the scheduling layer, docking of the execution layer, and assembly of the monitoring layer. After the system is deployed, single-device debugging and multi-device linkage debugging of unmanned tower cranes, unmanned elevators, and automated guided forklifts are performed.

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