2363 results about "Tower crane" patented technology

The invention provides a building construction site safety monitoring and early warning method and system based on the Internet of Things, and relates to the technical field of data processing.The method comprises the steps that a three-base-point dynamic topological structure is established in a target monitoring domain, a first datum point is arranged at the extension end of the axis vertical line of a slewing bearing of a tower crane, and a second datum point is arranged at the extension end of the axis vertical line of the slewing bearing of the tower crane; the second datum point is embedded in the radial section of a force bearing flange plate of the hydraulic jacking module, the third datum point is fixedly connected to the intersection joint of a deep foundation pit top beam and a supporting system, and a non-collinear vector set is constructed through three-point coordinate offset; and based on the non-collinear vector group, deformation compensation correction is performed on the dynamic calibration parameter set through a vector space topological transformation algorithm, a topological reconstruction data stream containing a displacement gradient tensor and strain energy density is generated, and a risk situation feature space is constructed based on the topological reconstruction data stream. According to the invention, the intelligent construction safety management is realized.

The invention relates to a tower crane operation control system based on complex scene three-dimensional real-time modeling. According to the system, a lifting hook is coarsely positioned through a lifting hook positioning and state sensing unit, a real-time position is positioned by combining a laser radar point cloud clustering algorithm with historical pose data, and visual tracking is synchronously performed by means of a tower top camera AI; converting the real-time point cloud data into a 3D voxel grid map, generating a global path by using a 3DA algorithm, and outputting a hoisting track after smooth processing and track optimization; establishing a sling-lifting hook double-pendulum dynamic model, predicting a state sequence based on a model prediction control algorithm, and adjusting a control signal through a feedforward compensation item and a feedback correction item; and the man-machine interaction and monitoring unit is used for displaying the cantilever angle, the lifting hook height and the three-dimensional map of the tower crane in real time and remotely intervening the operation state of the tower crane. According to the system, multi-source data are fused to construct a high-precision three-dimensional map, lifting hook positioning and full-view tracking are achieved, and lifting safety and trajectory tracking precision are improved through path planning and dynamics control.

The invention relates to the technical field of building management, in particular to a BIM-based building construction management method and system and a medium. The method comprises the following steps: acquiring building structure data; a tower crane full-life-cycle BIM model is constructed based on the building structure data, wherein the tower crane full-life-cycle BIM model comprises three-dimensional parameterized information of a base embedded part, a tower body standard knot, a slewing mechanism and a suspension arm assembly; acquiring building construction environment data; carrying out tower crane installation optimization on the tower crane full-life-cycle BIM model by utilizing building construction environment data to obtain a tower crane installation scheme; and base stress distribution simulation is conducted on the tower crane full-life-cycle BIM model according to the tower crane installation scheme, and tower crane base stress distribution data are generated. According to the invention, by integrating the building structure and the construction environment data and combining real-time sensing monitoring and intelligent collaborative optimization, the accuracy and dispatchability of tower crane management in building construction are improved.

A hoisting posture control system and method, applicable to the technical field of modular construction. According to the hoisting posture control system, controllers corresponding to functional modules are called on the basis of data detected by sensors, to drive posture control of a hoisted object, thereby assisting a tower crane operator in making work decisions, so that the operator does not need to take risks to get close to a module to be installed hoisted in the air, ensuring the safety of workers and the accuracy and reliability of module installation. Thus, the labor cost in modular construction work can be reduced, and the assembly quality and efficiency of modules are improved.

The invention relates to a data and model fused tower crane displacement response prediction method under the typhoon action, which comprises the following steps: constructing a monitoring system, acquiring actual measurement data of a construction site and a tower crane, and constructing a tower crane finite element model by utilizing a design parameter set of the tower crane; the extreme wind speed under the most unfavorable wind direction of a construction site is obtained based on typhoon full-path simulation and wind field simulation, and the tower crane finite element model is calibrated by analyzing a parameter object needing to be calibrated in the tower crane finite element model through sensitivity, so that the calibrated tower crane finite element model can accurately reflect the response condition of a tower crane structure; a calibrated tower crane finite element model is used for simulating a data set formed by displacement data under the typhoon working condition to serve as a training set, the defect of an extreme weather sample in an actually-measured training sample is overcome, then response prediction of tower crane displacement under the typhoon working condition is achieved by training a CNN-BiLSTM-Adaboost displacement response prediction model, and the method is simple and convenient to implement. The precision and robustness of tower crane displacement prediction under the extreme typhoon working condition are remarkably improved, and sufficient emergency processing time is reserved for a construction site.

The invention relates to the technical field of big data analysis and mining, in particular to a construction progress deviation early warning method and system based on data mining, and the method comprises the following steps: integrating a construction task list, the spatial position of a component in a BIM, the number of operators in a construction log, and the operation state of a tower crane, and generating a multi-dimensional constraint construction map node set; according to the method, a multi-dimensional node set with time, space and resource attributes is constructed by integrating a construction task list, the spatial position of a BIM component, the number of operators in a construction log and the operation state of a tower crane, and structural expression of a construction site is achieved; on the basis, a causal association relationship among construction logic, resource occupation and space proximity is identified, and a time sequence causal conduction map with a deviation conduction coefficient value is further established, so that a risk conduction path between construction events has quantitative calculation capability.

The invention relates to the technical field of automatic control, in particular to a tower crane variable amplitude-rotation linkage self-adaptive control method oriented to a high wind load environment. The method comprises the following steps: step 1, acquiring an actually measured average wind speed at the height of the tower crane so as to determine a wind-induced coupling torque acting on a rotating shaft of the tower crane; 2, real-time equivalent rotational inertia generated by the dead weight of the cantilever crane, the suspended load mass and the relative position of the cantilever crane is calculated in real time; step 3, obtaining an original variable-amplitude torque instruction output by a variable-amplitude motor of the tower crane; and step 4, utilizing the rotating shaft to couple the rotational inertia so as to update the rotation angular velocity set value of the tower crane in the next control period in real time, and completing the amplitude variation-rotation linkage self-adaptive control of the tower crane. According to the invention, the safety, precision and continuous operation capability of the tower crane under complex construction conditions are improved.

The invention provides a three-dimensional space collision avoidance system based on multiple tower cranes, and relates to the technical field of port hoisting operation, a three-dimensional voxel grid VoxelGrid space map is constructed, and the three-dimensional space collision avoidance system comprises a first horizontal coverage map, a second descending coverage map, a third fan-shaped area occupation map, a fourth track occupation area map and a fifth interference area map; the system can identify the space overlapping area of the tower crane operation path at the voxel level, breaks through the limitation of the traditional path planning method on the dimension and precision of space modeling, and enhances the fine granularity and accuracy of collision detection. A dynamic acquisition module and a dynamic interference module are introduced, dynamic disturbance caused by factors such as stormy waves and tides on a ship in a port operation environment can be sensed in real time, the deviation trend of the tail end of the lifting appliance is predicted, target correction and track compensation are carried out before track execution, and the situation that the lifting appliance is accidentally touched or falls off due to track drifting is effectively promoted to be reduced.

The invention provides a tower crane path planning method, device and equipment based on polar coordinate recursive division, and relates to the field of path planning. The method comprises the following steps: acquiring related information of a hoisting point, a target point, a tower crane, a hoisted object and an obstacle, and establishing a polar coordinate system by taking the position of the tower crane as a circle center; further obtaining a tower crane hoisting range represented by a circular ring cylinder; then, dynamically and recursively dividing the hoisting range of the tower crane into a plurality of sub-bodies in different modes until a division termination condition is met; then, under the condition that the lifting point and the target point are not in the outer boundary frame of the sub-body, on the premise that the division termination condition is met, the lifting point and the target point are used as vertexes to be segmented to obtain new sub-bodies; calculating to obtain an optimal path by adopting an A * algorithm and combining a cost function, and optimizing to obtain an optimized path; and collision detection between the obstacle on the optimized path and the hoisted object is executed until the detection result is safe, a planned path is obtained, and the tower crane is controlled to operate. The path planned by the method is high in operability and safety.

The invention provides an automatic management system for tower crane ground control, and relates to the technical field of tower crane ground control management. A dynamic multi-dimensional cost model is constructed by collecting spatial obstacle data, environmental risk indexes and time efficiency parameters, and an environmental protection reference value is generated and transmitted to a credit evaluation unit. The credit evaluation unit calculates an equipment health green credit score based on an environmental protection reference value and real-time operation data, and dynamically adjusts a green weighting factor of task allocation. And the task allocation unit constructs an economic decision matrix in combination with the cost parameter and the credit evaluation result, generates an optimal task allocation scheme through priority ranking, and triggers path optimization. And the task constraint unit optimizes the operation path and feeds back the energy recovery benefit to the cost model in real time. The visual interaction unit controls and manages in real time through a three-dimensional thermodynamic diagram and supports manual intervention. According to the system, resource optimization configuration and dynamic risk management and control of tower crane operation are achieved, and the construction efficiency and economical efficiency are improved.

The invention discloses a tower crane monitoring system in an intelligent construction site project, which comprises a multi-modal sensor module, a digital twin modeling module, a dynamic risk map generation module and a display terminal, and is characterized in that the multi-modal sensor module covers the whole domain of a tower crane and multi-dimensional data of real-time operation of the tower crane, so that the problem of data isolation of a traditional system is solved; a tower crane three-dimensional dynamic model is constructed based on real-time multi-dimensional data, stress distribution and motion trail of a physical entity are simulated, the position prediction precision of a lifting hook is improved, and a three-dimensional risk thermodynamic diagram is generated through a dynamic risk map generation module, so that a worker can more visually check the risk level of each part of the tower crane, intelligent early warning is realized, and the working efficiency is improved. And the fault occurrence probability is reduced.

The invention relates to the technical field of safety monitoring and early warning, and discloses a global safety monitoring and intelligent early warning system and method for construction site tower crane operation, and the method comprises the steps: deploying a multi-layer sensor network at a plurality of target parts of a construction site tower crane, and collecting the operation state data of the tower crane; carrying out extended Kalman filtering processing on the tower crane operation state data to obtain a tower crane sensor installation angle parameter and a non-integrity constraint lever arm parameter; performing global state estimation based on the tower crane sensor mounting angle parameter and the non-integrity constraint lever arm parameter to obtain a tower crane global state and external disturbance data; inputting the global state of the tower crane and the external disturbance data into a deep neural network, and performing safety boundary calculation to obtain a dynamic safety boundary model of the construction site tower crane; and performing risk measurement calculation based on the dynamic safety boundary model to obtain a safety risk grading early warning instruction, thereby improving the safety and collaboration of construction site tower crane operation.

The invention discloses an automatic hoisting and positioning system and method for prefabricated parts, and relates to the technical field of building construction. The system comprises a tower crane, a frequency conversion trolley, a three-axis pan-tilt stabilizer, a receiver positioning device and an infrared emitter which are coaxial, an intelligent terminal control system with a pre-stored BIM model, and an integrated inertial sensing unit and a dome camera monitoring system. The intelligent terminal generates target coordinates through the BIM positioning reference module, the real-time deviation calculation module quantifies three-dimensional positioning and axis perpendicularity deviation, and the compensation instruction generation module drives targeted adjustment; through combination of infrared dual-mode switching, frame line deviation correction and inertia swing dynamic suppression, precise positioning and obstacle avoidance cooperation is realized. According to the method, through the closed-loop process of benchmark setting, obstacle avoidance lifting, fine compensation and standard confirmation, it is guaranteed that the positioning deviation is not larger than 0.8 mm, the axis perpendicularity is not larger than 0.3 degree, and the inertia swing is not larger than 10 cm, the problems that traditional hoisting is poor in precision and large in inertia interference are solved, and the installation quality and the operation efficiency are improved.

The invention discloses a multi-tower-crane cooperative driving training system based on a virtual reality technology. The multi-tower-crane cooperative driving training system comprises a physical simulation module, a construction scene construction module, a multi-tower-crane cooperative operation module and an interaction and control module. The physical simulation module simulates the motion trail, load change and collision response of the tower crane to ensure that the operation of the tower crane conforms to a real physical rule in a virtual environment; the construction scene construction module generates a virtual construction site scene through a BIM technology; the multi-tower crane cooperative operation module realizes task allocation, path planning and safe distance maintenance among multiple tower cranes; and the interaction and control module provides real-time interaction between the operator and the virtual tower crane. Multiple operators are supported to operate different tower cranes at the same time, and accurate control is achieved through the VR controller and the operation handle. The system provided by the invention can analyze and evaluate the collaborative operation performance of trainees, helps a green tower crane driver to improve the collaborative operation skill of multiple tower cranes, and reduces the safety risk caused by crossing of tower crane coverage ranges in actual operation.

The invention provides a tower crane system with an offset repairing function and an offset repairing method thereof. The tower crane system comprises a base; the tower comprises a tower body, a cargo boom, a balance arm and a first rotating assembly. The monitoring assembly is configured to be used for monitoring the current offset, the current offset direction, the wind load and the wind direction of the tower body; the offset repairing assembly comprises a plurality of groups of compensation arms, a second rotating assembly, a third rotating assembly and a control unit; the multiple sets of compensation arms are rotationally connected with the tower body, and gravity compensation pieces capable of moving along the compensation arms are hung on the multiple sets of compensation arms. The control unit is used for predicting the future offset and the future offset direction of the tower body according to data monitored by the monitoring assembly and controlling the second rotating assembly to drive the multiple sets of compensation arms to rotate according to the future offset direction of the tower body so as to adjust the positions of the compensation arms. And the position of the gravity compensation piece on the compensation arm is adjusted according to the future offset of the tower body, compensation of the offset of the tower body is achieved, and the tower body is kept in a balanced state.

The invention relates to the technical field of tower crane safety monitoring, and discloses a tower crane construction safety guarantee method and system.The method comprises the steps that a multi-tower crane cross operation area is dynamically recognized based on tower crane parameter data and real-time operation state data, and a dynamic distribution diagram of the cross operation area is obtained; based on the tower crane load data and the environment parameter data, tower crane operation stability evaluation is conducted, and an operation stability evaluation value is obtained; performing dynamic collision risk analysis based on the dynamic distribution map and the operation stability evaluation value to obtain a dynamic collision risk index; setting an adaptive safety distance threshold based on the dynamic collision risk index; and grading early warning and intervention control are carried out based on a self-adaptive safety distance threshold. Through collection and fusion analysis of multi-dimensional data, comprehensive perception and dynamic monitoring of a multi-tower crane operation environment are realized, and dispersed tower crane safety monitoring can be integrated into a cooperative system, so that the safety management level of a construction site is remarkably enhanced.

The invention provides a tower crane remote real-time operation system which comprises the following modules: a remote control system is used for receiving and converting an operation signal of a handheld assembly and transmitting the operation signal to a tower crane cab monitoring system, and the tower crane cab monitoring system is used for collecting operation parameters and environment data of a tower crane in real time and transmitting the operation signal to a remote control system; the operation signal and the collected data are sent to the tower crane lifting, amplitude-changing and corner integrated frequency converter control system, and the tower crane lifting, amplitude-changing and corner integrated frequency converter control system is used for controlling the lifting, amplitude-changing and corner actions of the tower crane in real time according to the operation signal or the collected data. The intelligent interaction control module cooperates with the multi-source data fusion analysis module and the building state sensing and feedback module, tower crane data, construction area building states and associated influence parameters are comprehensively integrated, the building state sensing and feedback module monitors building deformation and stress, it is guaranteed that construction and design are consistent in combination with a BIM model, the deviation is smaller than or equal to 3 mm, and construction safety and progress are guaranteed.

The invention discloses an area intelligent identification alarm system for tower crane hoisting, which relates to the technical field of alarm systems and comprises a front-end data acquisition module, an acquired data processing module, a wireless network communication module, a hoisting safety analysis module and a safety alarm execution module. The visual detector, the detection sensor and the environment sensor form a multi-element acquisition module, hoisting parameters and environment information can be synchronously acquired in real time on the hoisting site of the tower crane, the comprehensiveness of information acquisition is ensured, and the problem that the traditional configuration is single in acquisition element and the cost is low is solved through the redundancy design of multiple acquisition elements. The method solves the problem that the existing tower crane is easy to fail, realizes real-time intelligent identification and graded early warning of potential safety hazards in a tower crane hoisting operation area, has the characteristics of high dynamic adaptability, high spatial resolution, intelligent response, high deployability and the like, and provides scientific and efficient technical support for safety management of tower crane operation.

The invention relates to the technical field of intelligent control of engineering machinery, and provides a tower crane hoisting whole process dynamic mapping and sensing coverage method and system. The method comprises the following steps: respectively mounting two rotary radars on a rotatable bracket of the tower crane; the current hoisting operation stage of the tower crane is obtained in real time; switching a shooting view angle of the double-radar module according to the hoisting operation stage, and controlling the double-radar module to obtain continuous point cloud data of the corresponding operation stage; tower crane operation parameters are collected, and continuous lifting hook tracks are generated in combination with continuous point cloud data obtained by the double-radar module; identifying a dynamic obstacle and a static background contained in the target monitoring space from the continuous point cloud data, and constructing a construction environment point cloud model; performing space-time registration on the construction environment point cloud model and the physical coordinate system, and establishing a global dynamic map; and a dynamic sensing area coverage map is constructed by fusing the continuous lifting hook track and the global dynamic map, so that the real-time sensing of the space environment of the tower crane hoisting operation is realized.

The invention discloses a steel pipe pile welding device and method for a bridge tower crane foundation, and relates to the field of welding equipment.The steel pipe pile welding device comprises an electric welding main machine, the two sides and the front face of the electric welding main machine are each provided with a plurality of heat dissipation holes, and the back face of the electric welding main machine is provided with a heat dissipation fan and connected with a power plug in an inserted mode; an active impurity removing mechanism is installed on the electric welding main machine and used for pushing away impurities falling on the electric welding main machine. The active impurity removing mechanism comprises an impurity removing pushing frame, and the impurity removing pushing frame is installed on the electric welding main machine in a sliding mode. It needs to be explained that in the embodiment of the invention, when the electric welding main machine is covered with sundries, the sundries are pushed away through the impurity removal pushing frame, and air inlet and heat dissipation of the electric welding main machine are guaranteed; besides, when the electric welding main machine is in a humid environment for a long time, the power plug is separated by the separating frame, so that the electric welding main machine is stopped emergently, and the problems of short circuit, even fire or explosion caused by damp of the electric welding main machine are solved.

The invention innovatively combines an unmanned aerial vehicle platform with improved YOLOv11, and provides an improved YOLOv11-based unmanned aerial vehicle tower crane corrosion detection method, which comprises the following steps: firstly, planning an unmanned aerial vehicle flight route for a to-be-detected tower crane, and generating a corresponding route file; the unmanned aerial vehicle collects video information of the tower crane through a carried pan-tilt camera according to the loaded route file; and the ground monitoring center then receives the video information transmitted by the unmanned aerial vehicle and inputs the video information into the constructed tower crane corrosion detection model so as to realize visual analysis and information storage of the tower crane corrosion condition. Wherein the tower crane corrosion detection model is based on YOLOv11, and a C3k2 module in a backbone network of the tower crane corrosion detection model is replaced by a C3k2DCNv2 module; the SPFF module is replaced by an AIFI module in the RT-DETR algorithm; and a DyHead module is introduced in front of the head network, so that the identification efficiency and precision of tower crane corrosion detection are effectively improved.

A crane, in particular a rotating tower crane, including a crane boom from which a load-receiving means, such as load hooks, can be raised and lowered by means of a hoist rope. A detection device is provided for detecting the distance of the load-receiving means from the ground and / or from an object located below the load-receiving means.

The invention discloses a tower crane lifting hook intelligent anti-collision early warning method based on 5G and millimeter-wave radar fusion, which is characterized in that a millimeter-wave radar array for point cloud data acquisition is arranged at the tail end of a balance arm of a tower crane, and a 5G edge computing gateway for receiving and processing the point cloud data acquired by the millimeter-wave radar array is arranged in the middle of a tower body of the tower crane; a tower crane cab is provided with a digital twin platform fusing a tower crane three-dimensional model and a construction site BIM model and used for displaying the three-dimensional position of a lifting hook, and a multi-stage early warning terminal used for displaying collision early warning information and executing early warning operation. And the 5G edge computing gateway feeds back prediction information to the digital twin platform and the multi-stage early warning terminal by running a long short-term memory network trajectory prediction model and a collision detection algorithm. The 5G + millimeter wave radar technology is creatively applied to the field of collision avoidance of the tower crane lifting hook, and the problems that a traditional collision avoidance technical scheme of the lifting hook is high in delay and low in precision are solved.

The invention relates to the technical field of tower crane control, and provides an aerial high-risk area identification and hoisting path reconstruction method and system. The method comprises the following steps of: respectively mounting two rotary radars on a rotatable bracket of the tower crane to form a radar sensing module comprising a double-radar module; dynamically scanning the potential risk area in the construction scene through a radar sensing module to obtain real-time position information of the potential risk area; receiving the real-time position information through a processing module, and converting the real-time position information into real-time three-dimensional coordinate data in a motion coordinate system of the hoisting equipment by adopting a three-dimensional coordinate conversion algorithm; constructing a three-dimensional model of the potential risk area based on the real-time three-dimensional coordinate data; and identifying the three-dimensional model to determine a high-risk area, adopting an improved fast exploration random tree algorithm as a path obstacle avoidance algorithm, combining the three-dimensional model to dynamically reconstruct an initial hoisting path set by a user, and generating an optimal risk-avoiding hoisting track avoiding the high-risk area.

The invention discloses a tower crane space anti-collision method based on multi-source data fusion, and belongs to the technical field of crane safety. The method comprises the steps that tower crane group data collected by a sensor module are obtained, a tower crane group comprises a plurality of tower cranes, each tower crane comprises a lifting hook, and each lifting hook is used for lifting a lifted object; the sensor module comprises a high-precision Beidou sensor, a high-precision laser ranging sensor, a stroke limiting sensor, a weight sensor, a wind cup sensor, an IMU sensor, a laser radar sensor, a position sensor and a camera. Fusing data of the tower crane group based on a Kalman filtering algorithm and a kinematic model to obtain a dynamic boundary range of each tower crane in the tower crane group and motion trail prediction of a hoisted object; and generating a tower crane priority queue based on the dynamic boundary range, and dynamically adjusting the operation path of each tower crane in the tower crane group through a grading early warning mechanism. According to the method, the safety and reliability of operation of the tower crane are improved.

The invention discloses a tower crane standard knot nut looseness health monitoring system, which relates to the technical field of engineering machinery health monitoring and comprises a nut looseness monitoring sensor, a data acquisition module, a wireless communication module, a remote monitoring module and an alarm module. According to the tower crane standard knot nut loosening health monitoring system, the loosening state of the tower crane standard knot nut can be monitored in real time, the data acquisition module can rapidly process and convert the signals output by the nut loosening monitoring sensor to obtain real-time data of the nut, safety accidents caused by nut loosening are effectively prevented, and the safety of the tower crane standard knot nut loosening health monitoring system is improved. The safety of tower crane operation is improved, the wireless communication module adopted by the system can transmit monitoring data to remote monitoring equipment in real time, so that a worker can remotely monitor the loosening condition of a nut of the tower crane, the working efficiency is greatly improved, the labor cost is reduced, and historical data and real-time data are analyzed through the data analysis system.

The invention relates to the field of data processing systems for planning purposes, in particular to a building engineering progress automatic planning and optimizing system based on artificial intelligence, and the method comprises the steps: obtaining a plurality of target time series data, and carrying out the smoothing of the data; obtaining a time sequence trend weight and a residual sequence according to the smoothed time sequence data; obtaining a dynamic adjustment weight of the target time sequence data according to the trend weight, the residual sequence and the tower crane operation sign parameters of the target time sequence data; self-adaptive sensitive parameters are obtained according to the dynamic adjustment weight and the trend weight; setting an anomaly judgment threshold according to the self-adaptive sensitive parameter and the residual sequence; setting a dynamic risk level according to the abnormality judgment threshold; and according to the dynamic risk level, carrying out artificial intelligence-based construction engineering progress automatic planning. According to the method, the accuracy of judging the operation state of the tower crane can be improved, so that a more accurate construction progress planning model is constructed, and the automatic planning of the construction progress of building engineering is ensured.

The invention relates to the technical field of construction safety detection, in particular to a building construction safety detection method and system based on BIM and VR technologies, and the method comprises the steps: obtaining tower crane operation data, steel wire rope attribute data, hoisting material attribute data and constructor positioning data in a hoisting process; based on the BIM technology, tower crane hoisting scene modeling is conducted, and the steel wire rope resonance risk and the hoisting material falling risk in the tower crane hoisting process are evaluated; determining a lifting material falling range and evaluating the exposure risk of the constructors in combination with the positioning data of the constructors; the comprehensive hoisting risk in the hoisting process of the tower crane is evaluated by combining the resonance risk of the steel wire rope, the falling risk of the hoisted materials and the exposure risk of constructors, and the hoisting risk of the tower crane is pre-warned and visually presented through the VR technology. By quantifying the resonance risk of the steel wire rope, the falling risk of lifted materials and the exposure risk of constructors in the operation process of the tower crane, the sensing ability and response efficiency of potential risks in the lifting process of the tower crane are effectively improved.

The invention discloses a tower crane cluster cooperative control method and system for an intelligent construction site and a medium, belongs to the technical field of tower crane control, and aims to solve the problems that existing cluster control among multiple tower cranes mainly depends on manual control, large potential safety hazards are easily generated in complex tower crane operation, and the working efficiency is high. And intelligent cooperative control of work among a plurality of tower cranes is difficult to realize. The method comprises the steps that track error prediction of a tower crane rope is conducted on current dynamic environment characteristics in a current construction area, and wind resistance-swing angle coupling error data are obtained; track intersection and coincidence judgment is conducted on the tower crane rope moving tracks of the tower crane tasks to be executed in the multiple tower cranes in the future time period, and an abnormal tower crane moving track diagram is predicted and determined; performing optimal path generation processing on the abnormal tower crane moving trajectory diagram under a federated learning framework to obtain an optimized tower crane moving trajectory diagram; and track avoidance execution processing is conducted on the risk tower crane with the track crossing risk, and a tower crane avoidance strategy of the risk tower crane is obtained.

The invention relates to the technical field of intelligent control of engineering machinery, and provides a self-adaptive perception control method and system for dual-radar cooperative scheduling. According to the method, the first rotary radar and the second rotary radar are respectively installed on the rotatable support; obstacle distribution data of a tower crane hoisting operation area are obtained in real time through the first rotating radar and the second rotating radar, and real-time stage information of hoisting operation is obtained in real time through the operation state sensing module. Calculating a sensing dead angle position according to the real-time stage information; dynamically generating a first task instruction and a second task instruction according to the priority level, the sensing dead angle position and the obstacle distribution data of the target monitoring area, and controlling the first rotary radar and the second rotary radar to adjust the rotation angle and the sensing parameter, so that the first rotary radar performs emphasized sensing on the target monitoring area with high priority, and the second rotary radar performs emphasized sensing on the target monitoring area with high priority. And the second rotary radar performs compensation sensing on areas corresponding to the sensing blind area and the sensing dead angle of the first rotary radar.