Tower crane dispatching method, tower crane dispatching apparatus, server, and tower crane dispatching control system

Abstract

A tower crane dispatching method, a tower crane dispatching apparatus, a server, and a tower crane dispatching control system, relating to the technical field of intelligent control of engineering machinery. The method comprises: in response to a delivery request from a target delivery remote‑control device and a receiving request from a target receiving remote‑control device, acquiring a target delivery point location of the target delivery remote‑control device and a target receiving point location of the target receiving remote‑control device; on the basis of the target delivery point location, the target receiving point location, and the locations of all lifting devices in a lifting device group, determining a lifting device with the lifting range covering both the target delivery point location and the target receiving point location as a lifting device available for dispatch; and when there are multiple lifting devices available for dispatch, determining a target lifting device on the basis of the positional relationship between each lifting device available for dispatch and the target delivery point location and / or target receiving point location. The operational efficiency and lifting safety of unmanned tower cranes in multi‑crane working scenarios is effectively improved.

Description

Pit method, pit device, server and pit control system

[0001] Cross-reference to related applications

[0002] This application claims the benefit of Chinese Patent Application No. 202411379040.1, filed September 30, 2024, the contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present application relates to the technical field of intelligent control of construction machinery, in particular to a pit method, a pit device, a server and a pit control system. BACKGROUND

[0004] At present, unmanned tower cranes have been applied in construction sites. Since there is no operator on the unmanned tower crane, when the construction site uses an unmanned tower crane and multiple unmanned tower cranes are simultaneously working on the construction site, the unmanned tower crane needs to be dispatched to realize collaborative work of multiple tower cranes. The existing control method of unmanned tower cranes is only applicable to the operation control of a single tower crane and cannot be used in the group tower operation scenario. Moreover, the existing method does not involve pit control for tower cranes. Therefore, the existing method cannot dispatch the optimal tower crane to perform hoisting operations according to the delivery location and the pickup location to ensure the work efficiency and hoisting safety of the unmanned tower crane. SUMMARY

[0005] The purpose of the embodiments of the present application is to provide a pit method, a pit device, a server and a pit control system to solve the problem that the prior art cannot control the group tower operation.

[0006] In order to achieve the above-mentioned purpose, in the first aspect of the present application, a pit method is provided, which is applied to a server, and the method comprises:

[0007] In response to a delivery request of a target delivery remote control device and a pickup request of a target pickup remote control device, obtaining a target delivery point position of the target delivery remote control device and a target pickup point position of the target pickup remote control device;

[0008] Based on the target delivery point position, the target pickup point position and the positions of all hoisting devices in the hoisting device group, determining a hoisting device whose hoisting range covers the target delivery point position and the target pickup point position as a to-be-dispatched hoisting device;

[0009] In the case where the to-be-dispatched hoisting devices are multiple, determining a target hoisting device according to the positional relationship between each to-be-dispatched hoisting device and the target delivery point position and / or the target pickup point position.

[0010] Optionally, after determining the hoisting equipment covering the target shipping point position and the target receiving point position as the hoisting equipment to be dispatched, the method further comprises:

[0011] In a case where the hoisting equipment to be dispatched is single, the hoisting equipment to be dispatched is determined as the target hoisting equipment.

[0012] Optionally, after determining the target hoisting equipment according to the positional relationship between each hoisting equipment to be dispatched and the target shipping point position and / or the target receiving point position, the method further comprises:

[0013] The control right of the target hoisting equipment is allocated to the target shipping remote control device and the target receiving remote control device.

[0014] Optionally, in a case where the hoisting equipment to be dispatched is multiple, the method further comprises receiving the equipment state of each hoisting equipment to be dispatched, and determining the target hoisting equipment according to the equipment state of each hoisting equipment to be dispatched, wherein the equipment state comprises a running state or an idle state of the hoisting equipment;

[0015] Determining the target hoisting equipment according to the equipment state of each hoisting equipment to be dispatched comprises:

[0016] Obtaining the equipment state of each hoisting equipment to be dispatched;

[0017] In a case where the hoisting equipment to be dispatched in the idle state is single, the hoisting equipment to be dispatched in the idle state is determined as the target hoisting equipment;

[0018] In a case where the hoisting equipment to be dispatched in the idle state is multiple, the target hoisting equipment is determined according to the positional relationship between each hoisting equipment to be dispatched in the idle state and the target shipping point position and / or the target receiving point position.

[0019] Optionally, in a case where the hoisting equipment to be dispatched in the idle state is multiple, the method further comprises receiving the equipment height of each hoisting equipment to be dispatched, and determining the target hoisting equipment according to the equipment height of each hoisting equipment to be dispatched;

[0020] Determining the target hoisting equipment according to the equipment height of each hoisting equipment to be dispatched comprises:

[0021] Obtaining the equipment height of each hoisting equipment to be dispatched, and determining the hoisting equipment to be dispatched with the lowest equipment height as the target hoisting equipment when the hoisting equipment to be dispatched with the lowest equipment height is single;

[0022] When the to-be-dispatched hoisting devices have the lowest device height, the target hoisting device is determined according to the positional relationship between each to-be-dispatched hoisting device with the target shipping point position and / or the target receiving point position.

[0023] Optionally, the target hoisting device is determined according to the positional relationship between each to-be-dispatched hoisting device with the target shipping point position and / or the target receiving point position, comprising:

[0024] The distance between each to-be-dispatched hoisting device and the target receiving point position is determined according to the hoisting device position of each to-be-dispatched hoisting device.

[0025] The to-be-dispatched hoisting device closest to the target receiving point position is determined as the target hoisting device.

[0026] Optionally, the target hoisting device is determined according to the positional relationship between each to-be-dispatched hoisting device with the target shipping point position and / or the target receiving point position, comprising:

[0027] The first distance between the hoisting device position of each to-be-dispatched hoisting device and the target shipping point position is determined, and the second distance between the hoisting device position of each to-be-dispatched hoisting device and the target receiving point position is determined.

[0028] The to-be-dispatched hoisting device with the smallest sum of the first distance and the second distance among each to-be-dispatched hoisting device is determined as the target hoisting device.

[0029] Optionally, the target shipping point position of the target shipping remote control device and the target receiving point position of the target receiving remote control device are obtained, comprising:

[0030] The target shipping point position and the target receiving point position input by a user are received through a first data interface; or

[0031] The target shipping point position is obtained from a positioning device of the target shipping remote control device, and the target receiving point position is obtained from a positioning device of the target receiving remote control device through a second data interface.

[0032] In a second aspect, the application provides a dispatching device applying the dispatching method, the device comprising:

[0033] The request receiving module is configured to obtain the target shipping point position of the target shipping remote control device and the target receiving point position of the target receiving remote control device in response to a shipping request of the target shipping remote control device and a receiving request of the target receiving remote control device.

[0034] The to-be-assigned hoisting device determination module is configured to determine, based on the target shipping point position, the target receiving point position, and positions of all hoisting devices in the hoisting device group, a hoisting device whose hoisting range covers the target shipping point position and the target receiving point position as the to-be-assigned hoisting device.

[0035] The target hoisting device determination module is configured to, in a case where the to-be-assigned hoisting devices are multiple, determine a target hoisting device according to a positional relationship between each to-be-assigned hoisting device and the target shipping point position and / or the target receiving point position.

[0036] In a third aspect, the present application provides a server, which comprises the above-mentioned pylon assignment device.

[0037] In a fourth aspect, the present application provides a pylon control system, which comprises:

[0038] The server, the at least one hoisting device, the at least one shipping remote control device, and the at least one receiving remote control device are as described above.

[0039] The hoisting device, the shipping remote control device, and the receiving remote control device are in communication connection with the server respectively.

[0040] The present application determines, after receiving the shipping request and the receiving request of the shipping remote control device and the receiving remote control device, a hoisting device whose hoisting range covers the shipping point position and the receiving point position as the to-be-assigned hoisting device according to the obtained shipping point position and the receiving point position, and determines a target hoisting device according to a positional relationship between each to-be-assigned hoisting device and the shipping point position and / or the receiving point position in a case where the to-be-assigned hoisting devices are multiple, so as to realize intelligent pylon assignment control of each tower crane in a group-tower operation scenario, and effectively improve the operation efficiency and hoisting safety of unmanned tower cranes in the group-tower operation scenario.

[0041] Other features and advantages of the present application will be described in detail in the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0042] The accompanying drawings are included to provide a further understanding of the present application and constitute a part of the specification, which together with the detailed description, serve to explain the present application. The drawings illustrate embodiments of the present application and, together with the detailed description, serve to explain the present application. However, the drawings do not limit the present application. In the drawings:

[0043] FIG. 1 is a method flowchart of a pylon assignment method according to a preferred embodiment of the present application;

[0044] FIG. 2 is a pylon assignment communication schematic diagram according to a preferred embodiment of the present application;

[0045] FIG. 3 is a communication schematic diagram of a remote control device and a hoisting device according to a preferred embodiment of the present application;

[0046] Fig. 4 is a schematic diagram of a tower dispatching method based on equipment height according to the preferred embodiment of the present application;

[0047] Fig. 5 is a schematic diagram of another tower dispatching method based on equipment height according to the preferred embodiment of the present application;

[0048] Fig. 6 is a schematic diagram of a tower dispatching method based on distance to a delivery point according to the preferred embodiment of the present application;

[0049] Fig. 7 is a schematic diagram of a tower dispatching method based on spatial distance between a delivery point and a delivery point according to the preferred embodiment of the present application;

[0050] Fig. 8 is a schematic diagram of a tower dispatching method based on spatial distance between a delivery point and a delivery point according to the preferred embodiment of the present application;

[0051] Fig. 9 is a schematic diagram of a tower dispatching device according to the preferred embodiment of the present application. DETAILED DESCRIPTION

[0052] The preferred embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to explain and illustrate the present application, and are not used to limit the present application.

[0053] As shown in Fig. 1, in the first aspect of the preferred embodiment, a tower dispatching method is provided, which is applied to a server, and the method comprises:

[0054] S100, in response to a delivery request of a target delivery remote control device and a delivery request of a target delivery remote control device, obtaining a target delivery point position of the target delivery remote control device and a target delivery point position of the target delivery remote control device;

[0055] S200, based on the target delivery point position, the target delivery point position, and the positions of all hoisting devices in the hoisting device group, determining hoisting devices covering the target delivery point position and the target delivery point position as to-be-dispatched hoisting devices;

[0056] S300, in the case where the to-be-dispatched hoisting devices are multiple, determining a target hoisting device according to the positional relationship between each to-be-dispatched hoisting device and the target delivery point position and / or the target delivery point position.

[0057] Thus, the application realizes intelligent tower dispatching control of each tower crane in the group tower operation scene, and effectively improves the operation efficiency and hoisting safety of unmanned tower cranes in the group tower operation scene, by determining the hoisting equipment to be dispatched as the hoisting equipment covering the delivery point position and the receiving point position in the hoisting range after receiving the delivery request and the receiving request of the delivery remote control device and the receiving remote control device, and determining the target hoisting equipment according to the positional relationship between each hoisting equipment to be dispatched and the delivery point position and / or the receiving point position when there are multiple hoisting equipments to be dispatched.

[0058] It can be understood that before step S100, the application also determines the target delivery remote control device and the target receiving remote control device. Specifically, the determination steps of the target delivery remote control device and the target receiving remote control device include: receiving a delivery request of at least one delivery remote control device and a receiving request of at least one receiving remote control device. It can be understood that in the group tower operation scene, there can be multiple delivery requests and multiple receiving requests at the same time. The delivery end staff can send a delivery request to the server through the delivery remote control device, and the receiving end staff can send a receiving request to the server through the receiving remote control device. In the case where the delivery remote control device and the receiving remote control device are both single based on the received delivery request and receiving request, for example, when there is only one delivery request and one receiving request, the current delivery remote control device can be directly determined as the target delivery remote control device, and the current receiving remote control device can be directly determined as the target receiving remote control device. In the case where the receiving remote control device is single and the delivery remote control device is multiple based on the received delivery request and receiving request, for example, when there are multiple delivery requests but only one receiving request at the same time, the server obtains the request time of receiving the delivery request of each delivery remote control device, and determines the delivery remote control device with the earliest request time as the target delivery remote control device, and determines the current receiving remote control device as the target receiving remote control device. For example, when the server receives delivery request 1 and delivery request 2 from different delivery remote control devices and receiving request from the receiving remote control device at the same time, the server determines the delivery remote control device corresponding to the delivery request with the earlier sending time as the target delivery remote control device according to the sending time sequence of the delivery request 1 and the delivery request 2, and determines the current receiving remote control device as the target receiving remote control device.

[0059] Further, if the server determines that there are multiple delivery remote control devices and multiple receiving remote control devices based on the received delivery request and receiving request, the server sends first interaction information for confirming the lifting device to each delivery remote control device and each receiving remote control device. For example, the first interaction information can include the number or position of each lifting device, i.e., tower crane. Meanwhile, the server receives second interaction information returned by each delivery remote control device and each receiving remote control device based on the first interaction information. For example, the second interaction information can include the device information of the lifting device confirmed by the delivery remote control device or the receiving remote control device, such as the number or position of the tower crane selected by the delivery end worker through the delivery remote control device or the number or position of the tower crane selected by the receiving end worker through the receiving remote control device. The server determines the delivery remote control device and the receiving remote control device with the same device information in the second interaction information as the target delivery remote control device and the target receiving remote control device. For example, if the server receives the delivery request of delivery remote control device 1 and delivery remote control device 2 and the receiving request of receiving remote control device 1 and receiving remote control device 2, the server returns the position information of each tower crane to each delivery remote control device and receiving remote control device and receives the selection result returned by each remote control device. For example, the selection result returned by delivery remote control device 1 is tower crane 1, the selection result returned by delivery remote control device 2 is tower crane 2, the selection result returned by receiving remote control device 1 is tower crane 1, and the selection result returned by receiving remote control device 2 is tower crane 2. The server determines that delivery remote control device 1 and receiving remote control device 1 are a group of target delivery remote control device and target receiving remote control device, and delivery remote control device 2 and receiving remote control device 2 are a group of target delivery remote control device and target receiving remote control device. The server determines the target delivery remote control device or the target receiving remote control device according to the selection result returned by each remote control device and determines the target lifting device corresponding to the target delivery remote control device and the target receiving remote control device through steps S100-S300. It can be understood that the number or position information of each tower crane can be pre-stored in the server. For example, a coordinate system is established based on the target construction site in advance, the coordinates of each tower crane in the target construction site are determined, and the coordinates of each tower crane are used as the position information of each tower crane.

[0060] In step S100, the target delivery point position of the target delivery remote control device and the target collection point position of the target collection remote control device are acquired, including: receiving the target delivery point position and the target collection point position input by a user through a first data interface; or acquiring the target delivery point position from a positioning device of the target delivery remote control device and acquiring the target collection point position from a positioning device of the target collection remote control device through a second data interface. It can be understood that the delivery remote control device and the collection remote control device are each provided with a positioning device, and the target delivery point position and the target collection point position can be acquired by the positioning device of the target delivery remote control device and the target collection remote control device, and the acquired target delivery point position and target collection point position are sent to the server when sending a delivery request, or the target delivery point position and the target collection point position can be manually input by the server side in advance.

[0061] In step S200, after the server receives the target delivery point position and the target collection point position, the target delivery point position and the target collection point position are judged according to the positions of each tower crane and the hoisting range of each tower crane, and if the target delivery point position and the target collection point position can be covered by the hoisting range of the same tower crane, the tower crane is determined as a to-be-assigned hoisting device.

[0062] In step S300, after the server determines the target hoisting device according to the positional relationship between each to-be-assigned hoisting device and the target delivery point position and / or the target collection point position, the control authority of the target hoisting device is assigned to the target delivery remote control device and the target collection remote control device. For example, as shown in FIG. 2, the server sends the communication address of the target hoisting device to the corresponding target delivery remote control device and target collection remote control device through wireless communication, and the target delivery remote control device and the target collection remote control device can access and match the target hoisting device through the communication address of the target hoisting device, and when the target hoisting device determines that the target delivery remote control device and the target collection remote control device have the control authority of the target hoisting device, the target delivery remote control device and the target collection remote control device can successfully match the target hoisting device. As shown in FIG. 3, after each remote control device is successfully paired with the corresponding tower crane, the delivery remote control device and the collection remote control device can directly control the delivery and collection operation of the tower crane without the need for server relay.

[0063] In the present application, when the to-be-dispatched hoisting equipment is a single machine, the to-be-dispatched hoisting equipment is directly determined as the target hoisting equipment, and when the to-be-dispatched hoisting equipment is multiple machines, the server determines the target hoisting equipment according to the positional relationship between each to-be-dispatched hoisting equipment and the target delivery point position and the target collection point position. In step S300, when the to-be-dispatched hoisting equipment is multiple machines, the method further comprises: receiving the equipment state of each to-be-dispatched hoisting equipment, and determining the target hoisting equipment according to the equipment state of each to-be-dispatched hoisting equipment, wherein the equipment state includes the running state or the idle state of the hoisting equipment. It can be understood that each hoisting equipment will send its latest equipment state to the server, for example, when the current hoisting equipment receives the control signal of the delivery remote control device or the collection remote control device to start the delivery or collection operation, the current hoisting equipment will update its equipment state to the running state, and send the updated equipment state to the server through wireless or wired communication. In this way, the server can obtain the real-time equipment state of all hoisting equipment.

[0064] Then, determining the target hoisting equipment according to the equipment state of each to-be-dispatched hoisting equipment comprises: first obtaining the equipment state of each to-be-dispatched hoisting equipment, i.e., determining whether each hoisting equipment is in the running state or the idle state; and then determining the number of idle state equipment, i.e., in the case that the to-be-dispatched hoisting equipment in the idle state is a single machine, determining the to-be-dispatched hoisting equipment in the idle state as the target hoisting equipment, for example, if tower crane 1 and tower crane 2 can both hoist the goods from the target delivery point position to the target collection point position, if tower crane 1 is idle and tower crane 2 is in the running state, then tower crane 1 is assigned to the target delivery remote control device and the target collection remote control device; in the case that the to-be-dispatched hoisting equipment in the idle state is multiple machines, the target hoisting equipment can be determined according to the positional relationship between each to-be-dispatched hoisting equipment in the idle state and the target delivery point position and / or the target collection point position. It can be understood that if all the tower cranes are in the running state, the tower assignment instruction is temporarily not executed, and the tower assignment instruction is executed after the tower crane is idle.

[0065] Further, in the case that the to-be-assigned hoisting devices in the idle state are multiple, the method further comprises receiving device heights of the to-be-assigned hoisting devices, and determining the target hoisting device according to the device heights of the to-be-assigned hoisting devices. The determination of the target hoisting device according to the device heights of the to-be-assigned hoisting devices comprises: obtaining the device heights of the to-be-assigned hoisting devices, and determining the to-be-assigned hoisting device with the lowest device height as the target hoisting device in the case that the to-be-assigned hoisting device with the lowest device height is single; and determining the target hoisting device according to the positional relationship between the to-be-assigned hoisting device with the lowest device height and the target shipping point position and / or the target receiving point position in the case that the to-be-assigned hoisting device with the lowest device height is multiple. Specifically, the device heights of the hoisting devices can be pre-stored in the server. If it is determined that the to-be-assigned hoisting devices in the idle state are multiple, for example, as shown in FIG. 4, the to-be-assigned hoisting devices in the idle state comprise tower crane 1 and tower crane 2, first, the device height of the tower crane 1 and the device height of the tower crane 2 are obtained, and if the device height of the tower crane 1 is lower than the device height of the tower crane 2, the tower crane 1 is determined as the target hoisting device; or, as shown in FIG. 5, if the to-be-assigned hoisting devices in the idle state comprise tower crane 1, tower crane 2 and tower crane 3, if the device heights of the tower crane 1 and the tower crane 3 are lower than the device height of the tower crane 2, and the device heights of the tower crane 1 and the tower crane 3 are the same, the tower crane 1 or the tower crane 3 is further determined as the target hoisting device according to the positional relationship between the tower crane 1 and the target shipping point position and / or the target receiving point position, and the positional relationship between the tower crane 3 and the target shipping point position and / or the target receiving point position. That is, in the execution of the tower assignment strategy, the tower crane with a lower height is preferentially assigned, so that the tower cranes can be more reasonably assigned, and the waste of resources can be avoided.

[0066] Further, in the case that the to-be-assigned hoisting devices in the idle state are multiple, the method further comprises receiving device heights of the to-be-assigned hoisting devices, and determining the target hoisting device according to the device heights of the to-be-assigned hoisting devices. The determination of the target hoisting device according to the device heights of the to-be-assigned hoisting devices comprises: obtaining the device heights of the to-be-assigned hoisting devices, and determining the to-be-assigned hoisting device with the lowest device height as the target hoisting device in the case that the to-be-assigned hoisting device with the lowest device height is single; and determining the target hoisting device according to the positional relationship between the to-be-assigned hoisting device with the lowest device height and the target shipping point position and / or the target receiving point position in the case that the to-be-assigned hoisting device with the lowest device height is multiple. Specifically, the device heights of the hoisting devices can be pre-stored in the server. If it is determined that the to-be-assigned hoisting devices in the idle state are multiple, for example, as shown in FIG. 4, the to-be-assigned hoisting devices in the idle state comprise tower crane 1 and tower crane 2, first, the device height of the tower crane 1 and the device height of the tower crane 2 are obtained, and if the device height of the tower crane 1 is lower than the device height of the tower crane 2, the tower crane 1 is determined as the target hoisting device; or, as shown in FIG. 5, if the to-be-assigned hoisting devices in the idle state comprise tower crane 1, tower crane 2 and tower crane 3, if the device heights of the tower crane 1 and the tower crane 3 are lower than the device height of the tower crane 2, and the device heights of the tower crane 1 and the tower crane 3 are the same, the tower crane 1 or the tower crane 3 is further determined as the target hoisting device according to the positional relationship between the tower crane 1 and the target shipping point position and / or the target receiving point position, and the positional relationship between the tower crane 3 and the target shipping point position and / or the target receiving point position. That is, in the execution of the tower assignment strategy, the tower crane with a lower height is preferentially assigned, so that the tower cranes can be more reasonably assigned, and the waste of resources can be avoided.

[0067] Further, in the present application, the target hoisting device is determined according to the positional relationship between each to-be-assigned hoisting device and the target delivery point position and / or the target collection point position, and can further include: determining a first distance between the hoisting device position of each to-be-assigned hoisting device and the target delivery point position, determining a second distance between the hoisting device position of each to-be-assigned hoisting device and the target collection point position, and determining a to-be-assigned hoisting device with the smallest sum of the first distance and the second distance among the to-be-assigned hoisting devices as the target hoisting device. For example, as shown in FIG. 7, taking the to-be-assigned hoisting devices in the idle state as an example, the to-be-assigned hoisting devices include tower crane 1 and tower crane 2. First, the first distance h1 between tower crane 1 and the target delivery point is determined according to the position of tower crane 1, the first distance h2 between tower crane 2 and the target delivery point is determined according to the position of tower crane 2, the second distance h3 between tower crane 1 and the target collection point is determined according to the position of tower crane 1, and the second distance h4 between tower crane 2 and the target collection point is determined according to the position of tower crane 2. The spatial travel H1 of tower crane 1 from the target delivery point position to the target collection point position and the spatial travel H2 of tower crane 2 from the target delivery point position to the target collection point position are calculated respectively, where H1 = h1 + h3 and H2 = h2 + h4. The sizes of H1 and H2 are compared. If H1 > H2, tower crane 2 is determined as the target hoisting device. If H1 < H2, tower crane 1 is determined as the target hoisting device. If H1 = H2, tower crane 1 or tower crane 2 is randomly determined as the target hoisting device. In this way, the tower crane with the shortest spatial travel distance to the target delivery point position and the target collection point position is determined as the target hoisting device, which can effectively reduce the waste of energy.

[0068] In the present application, after determining the target hoisting device, the server sends the target delivery point position and the target collection point position to the hoisting device. The hoisting device receives the target delivery point position and the target collection point position from the server, and controls the hoisting mechanism of the current hoisting device to reach a delivery initial position according to the target delivery point position. The delivery initial position is any position within the first hoisting range of the current hoisting device that can cover the target delivery point position, i.e., the delivery initial position is an initial range that can cover the target delivery point position. For the target delivery remote control device, in the case where the server assigns the control authority of the target hoisting device to the current delivery remote control device, the delivery control instruction is sent to the target hoisting device. The hoisting device receives the delivery control instruction from the target delivery remote control device, and controls the hoisting mechanism of the current hoisting device to reach the target delivery point position to hoist the goods in the case where the target delivery remote control device has the control authority of the current hoisting device. The delivery remote control device can send a delivery task end request to the target hoisting device to release the control authority of the target hoisting device in the case where the delivery task is completed. It can be understood that the hoisting mechanism of the hoisting device is the hook and / or the lifting arm of the tower crane.

[0069] After the target hoisting device completes hoisting of the goods, before the hoisting mechanism of the current hoisting device reaches the target receiving point position, the hoisting mechanism of the current hoisting device is first controlled to reach a receiving initial position, which is any position within a second hoisting range of the target receiving point position that can be covered by the hoisting mechanism of the current hoisting device, that is, the receiving initial position is an initial range that can cover the target receiving point position. For the target receiving remote control device, in a case where it is determined that the server assigns the control right of the target hoisting device to the current receiving remote control device, a receiving control instruction is sent to the target hoisting device to control the hoisting mechanism of the target hoisting device to reach the target receiving point position. The hoisting device receives the receiving control instruction from the target receiving remote control device, and in a case where it is determined that the target receiving remote control device has the control right of the current hoisting device, controls the hoisting mechanism of the current hoisting device to reach the target receiving point position. The receiving remote control device can send a receiving task end request to the target hoisting device to release the control right of the target hoisting device in a case where the receiving task is completed.

[0070] In addition, the hoisting devices also transmit their own device states to each other. For example, before performing the delivery operation, the current hoisting device receives the current device state of the adjacent hoisting device, where the hoisting range of the adjacent hoisting device overlaps with the hoisting range of the current hoisting device, and the device state includes the running state or the idle state of the hoisting device. As shown in FIG. 8, in a case where the current device state of the adjacent hoisting device is the running state, the hoisting mechanism of the current hoisting device is controlled to move out of the hoisting range of the adjacent hoisting device, and the current hoisting device is controlled to enter the waiting state until the current device state of the adjacent hoisting device is updated to the idle state, thereby avoiding the adjacent hoisting device.

[0071] After the current device state of the adjacent hoisting device is updated to the idle state, the current hoisting device sends the device state that the current hoisting device is in the running state to the adjacent hoisting device and the server in a case where it is determined that the current target delivery remote control device has the control right of the current hoisting device, and performs the delivery operation in response to the instruction of the target delivery remote control device; and sends the device state that the current hoisting device is in the idle state to the adjacent hoisting device and the server in a case where it is determined that the server has recovered the control right of the current hoisting device from the target delivery remote control device and the target receiving remote control device. In this way, the hoisting devices can avoid each other based on the device state of the adjacent hoisting device by updating the device state of the hoisting device in real time, thereby effectively improving the safety of the hoisting process.

[0072] As shown in FIG. 9, the second aspect of the present application provides a pita device, which applies the pita method described above, and the device comprises:

[0073] The request receiving module is configured to acquire a target delivery point position of the target delivery remote control device and a target collection point position of the target collection remote control device in response to a delivery request of the target delivery remote control device and a collection request of the target collection remote control device.

[0074] The to-be-assigned hoisting device determination module is configured to determine, based on the target delivery point position, the target collection point position, and positions of all hoisting devices in the hoisting device group, a hoisting device covering the target delivery point position and the target collection point position in a hoisting range as the to-be-assigned hoisting device.

[0075] The target hoisting device determination module is configured to, in a case where the to-be-assigned hoisting device is multiple, determine the target hoisting device according to a positional relationship between each to-be-assigned hoisting device and the target delivery point position and / or the target collection point position.

[0076] Optionally, after the target hoisting device is determined according to the positional relationship between each to-be-assigned hoisting device and the target delivery point position and / or the target collection point position, the apparatus further comprises:

[0077] The permission allocation module is configured to allocate control permission of the target hoisting device to the target delivery remote control device and the target collection remote control device.

[0078] Optionally, the apparatus further comprises a device state acquisition module configured to, in a case where the to-be-assigned hoisting device is multiple, receive a device state of each to-be-assigned hoisting device, and determine the target hoisting device according to the device state of each to-be-assigned hoisting device, the device state including a running state or an idle state of the hoisting device; wherein the determination of the target hoisting device according to the device state of each to-be-assigned hoisting device comprises: acquiring the device state of each to-be-assigned hoisting device; in a case where the to-be-assigned hoisting device in the idle state is single, determining the to-be-assigned hoisting device in the idle state as the target hoisting device; and in a case where the to-be-assigned hoisting device in the idle state is multiple, determining the target hoisting device according to a positional relationship between each to-be-assigned hoisting device in the idle state and the target delivery point position and / or the target collection point position.

[0079] Optionally, the device further comprises a device height obtaining module configured to, in the case that the to-be-dispatched hoisting devices are multiple, receive device heights of the to-be-dispatched hoisting devices, and determine the target hoisting device according to the device heights of the to-be-dispatched hoisting devices; determining the target hoisting device according to the device heights of the to-be-dispatched hoisting devices comprises: obtaining the device heights of the to-be-dispatched hoisting devices, and in the case that the to-be-dispatched hoisting device with the lowest device height is single, determining the to-be-dispatched hoisting device with the lowest device height as the target hoisting device; in the case that the to-be-dispatched hoisting device with the lowest device height is multiple, determining the target hoisting device according to the positional relationship between the to-be-dispatched hoisting devices with the lowest device height and the target shipping point position and / or the target receiving point position.

[0080] Optionally, determining the target hoisting device according to the positional relationship between the to-be-dispatched hoisting devices and the target shipping point position and / or the target receiving point position comprises: determining distances between the to-be-dispatched hoisting devices and the target receiving point position according to hoisting device positions of the to-be-dispatched hoisting devices; and determining the to-be-dispatched hoisting device closest to the target receiving point position as the target hoisting device.

[0081] Optionally, determining the target hoisting device according to the positional relationship between the to-be-dispatched hoisting devices and the target shipping point position and / or the target receiving point position comprises: determining first distances between hoisting device positions of the to-be-dispatched hoisting devices and the target shipping point position, and determining second distances between the hoisting device positions of the to-be-dispatched hoisting devices and the target receiving point position; and determining the to-be-dispatched hoisting device with the smallest sum of the first distance and the second distance among the to-be-dispatched hoisting devices as the target hoisting device.

[0082] Optionally, obtaining the target shipping point position of the target shipping remote control device and the target receiving point position of the target receiving remote control device comprises: receiving the target shipping point position and the target receiving point position input by a user through a first data interface; or obtaining the target shipping point position from a positioning device of the target shipping remote control device and obtaining the target receiving point position from a positioning device of the target receiving remote control device through a second data interface.

[0083] It can be understood that, for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is exemplified, and in actual application, the above-mentioned functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be realized in the form of hardware or software function unit. In addition, the specific name of each functional unit and module is only for easy distinction, and does not limit the protection scope of the application. The specific working process of the unit and module in the above system can refer to the corresponding process in the foregoing method embodiment, which will not be described here.

[0084] In a third aspect of the present application, a server is provided, which comprises the above-mentioned pylon device.

[0085] In a fourth aspect of the present application, a pylon control system is provided, which comprises the above-mentioned server, at least one hoisting device, at least one delivery remote control device and at least one receiving remote control device; the hoisting device, the delivery remote control device and the receiving remote control device are respectively in communication connection with the server. The server can be a local server or a cloud server, and the server and the hoisting device are connected by wired or wireless communication. After the server allocates the control authority of the corresponding hoisting device to the delivery remote control device and / or the receiving remote control device, the delivery remote control device and / or the receiving remote control device are connected with the corresponding hoisting device by wireless communication.

[0086] In summary, the pylon algorithm of the present application can intelligently assign the optimal tower crane according to the delivery point position and the receiving point position, can actively avoid collision between the tower crane and the tower crane, between the tower crane and the obstacle, and can intelligently control the idle tower crane to give way to the hoisting tower crane, effectively improving the operation efficiency of the unmanned tower crane and ensuring the safety of the unmanned hoisting.

[0087] The above describes the optional embodiments of the present application in detail in combination with the drawings, but the embodiments of the present application are not limited to the specific details in the above embodiments. Within the technical concept range of the embodiments of the present application, the technical solutions of the embodiments of the present application can be subjected to various simple modifications, and these simple modifications all belong to the protection range of the embodiments of the present application.

[0088] In addition, it should be noted that each specific technical feature described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, various possible combinations are not described again in the embodiments of the present application.

[0089] Furthermore, the various embodiments of the present application can be combined with each other, as long as it does not violate the idea of the present application, and should be considered as disclosed in the present application.

Claims

1. A Pita method applied to a server, characterized in that, The method comprises: in response to a delivery request of a target delivery remote control device and a receiving request of a target receiving remote control device, obtaining a target delivery point position of the target delivery remote control device and a target receiving point position of the target receiving remote control device; based on the target delivery point position, the target receiving point position and the positions of all hoisting devices in the hoisting device group, determining a hoisting device covering the target delivery point position and the target receiving point position in a hoisting range as a to-be-assigned hoisting device; in a case where the to-be-assigned hoisting device is multiple, determining a target hoisting device according to the positional relationship between each to-be-assigned hoisting device and the target delivery point position and / or the target receiving point position.

2. The pita method of claim 1, wherein, After determining the hoisting device covering the target delivery point position and the target receiving point position in the hoisting range as the to-be-assigned hoisting device, the method further comprises: in a case where the to-be-assigned hoisting device is single, determining the to-be-assigned hoisting device as the target hoisting device.

3. The pita method of claim 1, wherein, After determining the target hoisting device according to the positional relationship between each to-be-assigned hoisting device and the target delivery point position and / or the target receiving point position, the method further comprises: allocating the control authority of the target hoisting device to the target delivery remote control device and the target receiving remote control device.

4. The pita method of claim 1, wherein, in a case where the to-be-assigned hoisting device is multiple, the method further comprises receiving the device state of each to-be-assigned hoisting device, and determining the target hoisting device according to the device state of each to-be-assigned hoisting device, wherein the device state comprises a running state or an idle state of the hoisting device; determining the target hoisting device according to the device state of each to-be-assigned hoisting device comprises: obtaining the device state of each to-be-assigned hoisting device; in a case where the to-be-assigned hoisting device in the idle state is single, determining the to-be-assigned hoisting device in the idle state as the target hoisting device; in a case where the to-be-assigned hoisting device in the idle state is multiple, determining the target hoisting device according to the positional relationship between each to-be-assigned hoisting device in the idle state and the target delivery point position and / or the target receiving point position.

5. The pita method of claim 4, wherein, in a case where the to-be-assigned hoisting device in the idle state is multiple, the method further comprises receiving the device height of each to-be-assigned hoisting device, and determining the target hoisting device according to the device height of each to-be-assigned hoisting device; determining the target hoisting device according to the device height of each to-be-assigned hoisting device comprises: obtaining the device height of each to-be-assigned hoisting device, and in a case where the to-be-assigned hoisting device with the lowest device height is single, determining the to-be-assigned hoisting device with the lowest device height as the target hoisting device; in a case where the to-be-assigned hoisting device with the lowest device height is multiple, determining the target hoisting device according to the positional relationship between each to-be-assigned hoisting device with the lowest device height and the target delivery point position and / or the target receiving point position.

6. The Pita process of claim 1, 4 or 5, characterized by determining the target hoisting device according to the positional relationship between each to-be-assigned hoisting device and the target delivery point position and / or the target receiving point position comprises: According to the hoisting equipment position of each to-be-dispatched hoisting equipment, the distance between each to-be-dispatched hoisting equipment and the target delivery point position is determined; The to-be-dispatched hoisting equipment closest to the target delivery point position is determined as the target hoisting equipment.

7. The Pita process of claim 1, 4 or 5, wherein, According to the positional relationship between each to-be-dispatched hoisting equipment and the target delivery point position and / or the target delivery point position, the target hoisting equipment is determined, including: The first distance between the hoisting equipment position of each to-be-dispatched hoisting equipment and the target delivery point position is determined, and the second distance between the hoisting equipment position of each to-be-dispatched hoisting equipment and the target delivery point position is determined; The to-be-dispatched hoisting equipment with the smallest sum of the first distance and the second distance is determined as the target hoisting equipment.

8. The Pita process of claim 1 or 2, wherein, The target delivery point position of the target delivery remote control equipment and the target delivery point position of the target delivery remote control equipment are obtained, including: The target delivery point position and the target delivery point position input by a user through a first data interface are received; or The target delivery point position is obtained from the positioning device of the target delivery remote control equipment, and the target delivery point position is obtained from the positioning device of the target delivery remote control equipment.

9. A pita device applying the pita method of any one of claims 1 to 8, characterized by, The device includes: The request receiving module is configured to obtain the target delivery point position of the target delivery remote control equipment and the target delivery point position of the target delivery remote control equipment in response to the delivery request of the target delivery remote control equipment and the delivery request of the target delivery remote control equipment; The to-be-dispatched hoisting equipment determination module is configured to determine, based on the target delivery point position, the target delivery point position, and the positions of all hoisting equipment in the hoisting equipment group, the hoisting equipment whose hoisting range covers the target delivery point position and the target delivery point position as the to-be-dispatched hoisting equipment; The target hoisting equipment determination module is configured to determine, in the case where the to-be-dispatched hoisting equipment is multiple, the target hoisting equipment according to the positional relationship between each to-be-dispatched hoisting equipment and the target delivery point position and / or the target delivery point position.

10. A server, characterized by The server includes the Pita device of claim 9.

11. A pit control system characterized by, Including: The server, at least one hoisting equipment, at least one delivery remote control equipment, and at least one delivery remote control equipment of claim 10; The hoisting equipment, the delivery remote control equipment, and the delivery remote control equipment are respectively connected with the server in communication.

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