CN112794208B - Hoisting method, hoisting control system and engineering machinery - Google Patents

Hoisting method, hoisting control system and engineering machinery Download PDF

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Publication number
CN112794208B
CN112794208B CN201911109435.9A CN201911109435A CN112794208B CN 112794208 B CN112794208 B CN 112794208B CN 201911109435 A CN201911109435 A CN 201911109435A CN 112794208 B CN112794208 B CN 112794208B
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CN
China
Prior art keywords
hoisting
plc
tower crane
hoisting operation
tower
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CN201911109435.9A
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Chinese (zh)
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CN112794208A (en
Inventor
胡敏
黄国勇
曾杨
林能发
龙文堃
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Hunan Zhonglian Zhongke Construction Hoisting Machinery Co ltd
Zoomlion Heavy Industry Science and Technology Co Ltd
Original Assignee
Hunan Zhonglian Zhongke Construction Hoisting Machinery Co ltd
Zoomlion Heavy Industry Science and Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by Hunan Zhonglian Zhongke Construction Hoisting Machinery Co ltd, Zoomlion Heavy Industry Science and Technology Co Ltd filed Critical Hunan Zhonglian Zhongke Construction Hoisting Machinery Co ltd
Priority to CN201911109435.9A priority Critical patent/CN112794208B/en
Priority to PCT/CN2020/100414 priority patent/WO2021093347A1/en
Publication of CN112794208A publication Critical patent/CN112794208A/en
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Publication of CN112794208B publication Critical patent/CN112794208B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/52—Details of compartments for driving engines or motors or of operator's stands or cabins
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/06—Arrangements or use of warning devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/06—Arrangements or use of warning devices
    • B66C15/065—Arrangements or use of warning devices electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear

Abstract

The invention relates to the technical field of intelligent hoisting, and provides a hoisting method, which comprises the following steps: acquiring a plurality of on-site construction images and hoisting operation information of hoisting operation equipment, wherein the hoisting operation information comprises hoisting position information and hook falling position information; and in the process of hoisting operation of the hoisting operation equipment according to the execution instruction, monitoring the execution of the hoisting operation at a ground control end according to the site construction image and the hoisting operation information. According to the technical scheme provided by the invention, an operator can normally operate the hoisting operation equipment under the tower, so that the potential safety hazard is reduced, and the construction efficiency is improved.

Description

Hoisting method, hoisting control system and engineering machinery
Technical Field
The invention relates to the technical field of hoisting, in particular to a hoisting method, a hoisting control system and engineering machinery.
Background
Hoisting machinery (such as a tower crane) is one of the most common hoisting devices used in construction sites for hoisting construction raw materials. The tower can be transported in parallel, vertical and three hundred and sixty degrees without dead angles, makes great contribution to modern buildings and is necessary equipment for building construction.
The existing operation mode of the hoisting machine depends on the cooperation of a driver in an operation room on the tower and a field hoisting operator under the tower, and the operation mode which completely depends on human eyes and experience for judgment not only has higher technical requirements on the driver and the field hoisting operator, but also tests the tacit and the trust degree between the driver and the field hoisting operator, and has huge safety risks hidden behind the driver and the field hoisting operator. Firstly, a driver needs to climb to a control room on a tower to work, the height of a tower crane is different from tens of meters to hundreds of meters, under the condition that almost no safety measures exist in the prior art, a huge hidden danger is caused to the personal safety of a tower crane driver, meanwhile, the physical requirement on the driver is very high, and people who want to be engaged in the industry of tower crane hoisting are limited. Secondly, when an operator carries out high-altitude construction operation in a control cabin, due to the limited visual range of human eyes, the operator is difficult to accurately judge the surrounding operation environment, and misoperation or improper operation is easily caused, so that the hoisting efficiency is not high or accidents occur.
Therefore, how to shift the operation on the tower to the operation under the tower is a problem to be solved.
Disclosure of Invention
In view of this, the present invention provides a method for controlling a tower crane on the ground, so that an operator can normally operate the tower crane under the tower, thereby reducing the potential safety hazard and improving the construction efficiency.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
the invention also provides a hoisting method in a first aspect, which comprises the following steps:
acquiring a plurality of on-site construction images and hoisting operation information of hoisting operation equipment, wherein the hoisting operation information comprises hoisting position information and hook falling position information;
and in the process of hoisting operation of the hoisting operation equipment according to the execution instruction, monitoring the execution of the hoisting operation at a ground control end according to the site construction image and the hoisting operation information.
Optionally, the execution instruction is from a path planning subsystem or a field hoisting worker.
Optionally, the monitoring the execution of the hoisting operation includes:
monitoring system parameters of the hoisting operation equipment in the process of executing hoisting operation;
and when any one of the system parameters exceeds a preset threshold corresponding to the parameter, issuing an alarm instruction.
Optionally, the monitoring the execution of the hoisting operation includes:
and when any one of the system parameters exceeds a preset threshold value corresponding to the parameter, issuing an emergency stop instruction to the hoisting operation equipment.
Optionally, the monitoring the execution of the hoisting operation includes:
judging whether an obstacle exists in the hoisting operation process according to the site construction image;
and when the obstacle is determined to exist, giving an emergency stop instruction to the hoisting operation equipment.
Optionally, in a case that the execution instruction is from the path planning subsystem, the execution instruction is generated by:
acquiring lifting position information and hook falling position information in the lifting operation information;
determining a hoisting path according to the hoisting position information and the hook falling position information, wherein the hoisting path comprises a rotation angle to be executed by hoisting operation equipment, a variable amplitude and a hook height;
and generating an execution instruction for controlling the hoisting operation equipment according to the hoisting path.
Optionally, in the process of generating the execution instruction, the path planning subsystem further includes:
judging whether an obstacle exists in the hoisting path according to the site construction image;
and when the obstacle is determined to exist, replanning the hoisting path to bypass the obstacle.
Optionally, in a case that the execution instruction comes from a field hoisting worker, the execution instruction is obtained by:
and the field hoisting personnel send an execution instruction to the hoisting operation equipment through the portable control equipment.
Optionally, the field construction image includes: and shooting images on site behind a balance arm, in front of a crane boom, below a load-carrying trolley and below a slewing mechanism of the hoisting operation equipment.
Optionally, the field construction image further includes: and tracking and shooting a lifting operation image of the lifting hook and the lifted object below the load trolley.
Optionally, the on-site construction image further includes: the method comprises the steps that on-site operation images of on-site hoisting personnel are shot through a mobile image acquisition device arranged on a safety helmet worn by the on-site hoisting personnel.
Optionally, the system parameters include one or more of the following: lifting hook height, lifting hook amplitude, lifting hook rotation angle, hoisting weight and jib inclination angle.
Optionally, the path planning subsystem is further configured to: setting system state parameters, setting a display mode of the site construction image and setting a control mode of the system.
In a second aspect of the present invention, there is also provided a hoist control system, comprising:
at least one processor;
a memory coupled to the at least one processor;
the memory stores instructions executable by the at least one processor, and the at least one processor implements the hoisting method by executing the instructions stored in the memory.
In a third aspect of the invention, the invention further provides a construction machine, and the construction machine is provided with the hoisting control system.
The hoisting method provided by the invention can change the original whole-course operation role of an operation driver on the tower in the prior art into the supervision role on the ground operation table, and reduces the labor intensity and safety risk of the operation driver. The visual field range of an operation driver can be enlarged through a monitoring picture of the ground control room. Meanwhile, auxiliary visual angles of various angles are provided, so that the safety of hoisting operation is improved. The dynamic monitoring of the obstacles in the hoisting operation process can be realized, the response can be made in time, the operation safety is ensured, and the accident risk is reduced. This scheme moves the linkage platform on the tower to under the tower, can guarantee that driver's original operation attribute does not change, can liberate ground from the tower with the driver again, has guaranteed driver's operation travelling comfort and personal safety.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of a method of an embodiment of the present invention;
FIG. 2 is a system block diagram of an embodiment of the present invention;
FIG. 3 is a schematic layout of a floor console according to an embodiment of the present invention;
fig. 4 is a schematic layout diagram of a first camera and a second camera on a tower crane according to an embodiment of the present invention;
FIG. 5 is a diagram illustrating remote control buttons according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a path planning system included in an industrial personal computer according to an embodiment of the present invention.
Description of the reference numerals
1-display screen 1 2-display screen 2 3-display screen 3
4-industrial personal computer 5-left linkage table operation interface
6-Right linkage table operation interface 7-ground control end table body 8-driver seat
9-electric control cabinet of ground control end 10-charging placement cabinet of intelligent safety helmet
11. 12-two first cameras arranged on the base of the balance arm
13. 14-two first cameras arranged on the root of the boom arm
15-first Camera arranged on the load-carrying Trolley
16-second Camera arranged on the root of the boom arm
17-second Camera arranged on the boom tip
Detailed Description
The following describes in detail embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
The invention also provides a hoisting method in a first aspect, which comprises the following steps:
acquiring a plurality of on-site construction images and hoisting operation information of hoisting operation equipment, wherein the hoisting operation information comprises hoisting position information and hook falling position information;
and in the process of hoisting operation of the hoisting operation equipment according to the execution instruction, monitoring the execution of the hoisting operation at a ground control end according to the site construction image and the hoisting operation information.
So, can control the role from original whole among the prior art tower operation driver and change into the supervision role at the ground operation panel, reduce operation driver's intensity of labour and safety risk.
Optionally, the execution instruction is from a path planning subsystem or a field crane operator. The control authority is given to the on-site hoisting personnel, the problem of inaccurate control caused by remote control is avoided, and the work of the on-site hoisting personnel is facilitated.
Optionally, the monitoring the execution of the hoisting operation includes:
monitoring system parameters of the hoisting operation equipment in the process of executing hoisting operation;
and when any one of the system parameters exceeds a preset threshold corresponding to the parameter, issuing an alarm instruction.
Optionally, the monitoring the execution of the hoisting operation includes:
and when any one of the system parameters exceeds a preset threshold value corresponding to the parameter, issuing an emergency stop instruction to the hoisting operation equipment.
Optionally, the monitoring the execution of the hoisting operation includes:
judging whether an obstacle exists in the hoisting operation process according to the site construction image;
and when the obstacle is determined to exist, giving an emergency stop instruction to the hoisting operation equipment.
Through the supervision mode above, not only reduced the safety risk, still liberated the intensity of labour who operates the driver.
Optionally, in a case that the execution instruction is from the path planning subsystem, the execution instruction is generated by:
acquiring lifting position information and hook falling position information in the lifting operation information;
determining a hoisting path according to the hoisting position information and the hook falling position information, wherein the hoisting path comprises a rotation angle to be executed by hoisting operation equipment, a variable amplitude and a hook height;
and generating an execution instruction for controlling the hoisting operation equipment according to the hoisting path.
Optionally, in the process of generating the execution instruction, the path planning subsystem further includes:
judging whether an obstacle exists in the hoisting path according to the site construction image;
and when the obstacle is determined to exist, replanning the hoisting path to bypass the obstacle.
Optionally, in a case that the execution instruction comes from a field hoisting worker, the execution instruction is obtained by:
and the field hoisting personnel send an execution instruction to the hoisting operation equipment through the portable control equipment.
Optionally, the field construction image includes: and shooting images on site behind a balance arm, in front of a crane boom, below a load-carrying trolley and below a slewing mechanism of the hoisting operation equipment.
Optionally, the field construction image further includes: and tracking and shooting a lifting operation image of the lifting hook and the lifted object below the load trolley.
Optionally, the on-site construction image further includes: the method comprises the steps that on-site operation images of on-site hoisting personnel are shot through a mobile image acquisition device arranged on a safety helmet worn by the on-site hoisting personnel.
Optionally, the system parameters include one or more of the following: lifting hook height, lifting hook amplitude, lifting hook rotation angle, hoisting weight and jib inclination angle.
Optionally, the path planning subsystem is further configured to: setting system state parameters, setting a display mode of the site construction image and setting a control mode of the system.
The visual field range of an operation driver can be expanded through the monitoring picture of the ground control room. And meanwhile, auxiliary visual angles at various angles are provided, so that the safety of hoisting operation is improved. And the dynamic monitoring of the obstacles in the hoisting operation process can be realized, the response can be made in time, the operation safety is ensured, and the accident risk is reduced.
In a second aspect of the present invention, there is also provided a hoist control system, the system comprising:
at least one processor;
a memory coupled to the at least one processor;
the memory stores instructions executable by the at least one processor, and the at least one processor implements the hoisting method by executing the instructions stored in the memory.
In a third aspect of the invention, the invention further provides a construction machine, and the construction machine is provided with the hoisting control system.
In this embodiment, a ground control tower crane system with an embedded industrial personal computer and a Programmable Logic Controller (PLC) as a core is used to control the tower crane. The technical route of the whole ground control tower crane system consists of an upper tower part and a lower tower part, and comprises an upper tower PLC, a lower tower PLC, a ground control end, a remote control system, a video monitoring system, a path planning system, a safety monitoring system and the like. The working principle of the whole system is that the multiple cameras arranged on the tower crane are used for shooting pictures of the tower crane and surrounding scenes in multiple visual angles, the pictures are transmitted to a display screen of a ground control end in real time, an operator makes judgment on a construction environment according to the pictures on the display screen, a reasonable control mode is selected according to the difficulty degree of the pictures, and finally a linkage platform under the tower is controlled to finish a hoisting task.
The system comprises: the system comprises a ground control end, a first PLC and a plurality of first cameras. Wherein, the first PLC is connected with the existing tower crane PLC on the tower crane to be controlled, and the tower crane PLC is connected with the existing tower crane actuating mechanism. The plurality of first cameras are respectively arranged on a balance arm root, a crane arm root, a load-carrying trolley and a swing mechanism of the tower crane to be controlled, and are respectively used for shooting construction pictures behind the balance arm, in front of the crane arm, below the load-carrying trolley and below the swing mechanism as shown in fig. 4. The ground control terminal in this embodiment includes: the platform body, industrial computer, second PLC, display screen and be used for receiving the linkage platform of controlling the instruction. The second PLC is respectively connected with the first PLC and the linkage table, the plurality of first cameras, the second PLC and the display screen are all connected with the industrial personal computer, the second PLC and the linkage table are all packaged in the table body, and the display screen is arranged on the table body as shown in fig. 3.
In this embodiment, the first PLC is disposed on a tower body of the tower crane to be operated, and is convenient for being connected with an existing tower crane PLC. The first PLC is also called a PLC on the tower, the second PLC is also called a PLC under the tower, the PLC on the tower is connected with the PLC under the tower through a POWERLINK communication bus, and receives an instruction transmitted by the industrial personal computer through the PLC under the tower, or transmits various acquired signal parameters on the tower crane to the PLC under the tower, and then transmits the acquired signal parameters to the industrial personal computer for corresponding processing. And the second PLC is connected with the industrial personal computer through a CAN communication bus.
In order to provide the operator with a better view, the system according to the present embodiment further comprises two second cameras, which are automatic tracking cameras. Preferably, the second camera is a dome camera having an automatic tracking shooting function. The second camera is respectively arranged on the root and the tip of the boom of the tower crane to be controlled and used for tracking and shooting the lifting hook and the hung object below the load trolley of the tower crane, as shown in fig. 4. The second camera is connected with the industrial personal computer in the ground control end, transmits the shot pictures to the industrial personal computer in real time, and displays the shot pictures on the display screen. In this embodiment, the first camera and the second camera are both wirelessly connected with the industrial personal computer.
The first camera, the second camera, the industrial personal computer and the display screen together form the video monitoring system in the embodiment, and the video monitoring system is used for displaying construction pictures concerned by an operation driver in a multi-angle and multi-azimuth manner. Meanwhile, in order to distinguish the importance degree of each monitoring visual angle and research the position, angle and type of video information acquisition, the advantages of wired, wireless and 4G network transmission technologies are integrated, and the method is applied to video transmission at different visual angles to form a tower crane high-altitude environment and a hook multi-visual-angle video networking system, so that the video real-time monitoring with long distance, low delay and large information amount is realized. Specifically, the first camera in this embodiment is a gun-type camera, and the second camera is a dome-type camera. An operation driver judges an optimal operation mode according to pictures shot by a first camera and a second camera, wherein two first cameras are arranged on a balance arm root of the tower crane to be controlled, are respectively arranged on the left side and the right side of the balance arm root and are used for shooting construction pictures behind the balance arm; the two first cameras are arranged on the boom root of the tower crane to be controlled, are respectively arranged on the left side and the right side of the boom root and are used for shooting construction pictures in front of the boom; the first camera is arranged on the load-carrying trolley of the tower crane to be controlled and used for shooting pictures below the load-carrying trolley and vertically downward of the lifting hook in real time; the first camera arranged on the slewing mechanism of the tower crane to be controlled is used for shooting a full-angle picture below the slewing mechanism, namely a construction scene. The first camera arranged on the slewing mechanism can also be arranged below the slewing mechanism. The two second cameras are respectively arranged on the root and the tip of the crane boom of the tower crane to be operated and controlled and are used for automatically tracking and shooting the hung object in a wide angle, and the diameter range of the lifted object serving as the center can be set through automatic control parameters of a ball machine of the industrial personal computer.
As shown in fig. 2, the system according to this embodiment further includes: and the safety monitoring device is arranged on the tower crane to be controlled and is respectively connected with the tower crane PLC and the industrial personal computer. Preferably, the safety monitoring device is connected with the tower crane PLC through an RS485 bus and is connected with the industrial personal computer through a CAN communication bus.
In this embodiment, the ground control terminal (i.e. the ground terminal console in fig. 2) further includes: and the alarm device is arranged on the surface of the table body and is connected with the industrial personal computer.
The safety monitoring device is provided with a safety monitoring system for monitoring parameters such as hoisting weight, amplitude value, height value, rotation value, wind speed value and inclination angle value when the tower crane acts, and once the tower crane exceeds a set safety range during operation, the safety monitoring system can alarm or suddenly stop the tower crane through the alarm device, so that the safety construction of the tower crane is ensured, and the safety of lives and properties is ensured. The working principle is that a path planning system installed in an industrial personal computer sends an instruction to a safety monitoring system through a CAN communication protocol, then the safety monitoring system is connected with an original tower crane PLC through RS485, and the working condition of the tower crane is displayed and monitored on a display screen of the safety monitoring system in real time.
As shown in fig. 2, the system according to this embodiment further includes: a portable operating device (e.g., a remote control) and a remote control signal receiver. The remote control signal receiver is arranged on the tower crane to be controlled, the remote control signal receiver is connected with a first PLC (namely, the PLC on the tower), and the remote controller is in wireless connection with the remote control signal receiver.
The key schematic diagram of the remote controller shown in fig. 5 includes the functional keys of emergency braking, up/down of a hook, left/right rotation, amplitude variation, fast mode, slow mode, starting and standby, and a person performing on-site hoisting can hold the remote controller to perform the above operations on the tower crane, so as to realize the fine operation of the tower crane. The specific operation is that the start key is pressed first, then one of the fast or slow modes is selected, and then the corresponding lifting, rotating and amplitude changing keys are pressed according to the state of the tower crane, so that the tower crane is controlled to execute according to the command, and finally, if the tower crane needs to be stopped in an emergency situation, the emergency brake key is pressed.
In the process of remote control operation, firstly, the remote controller sends an instruction on the key and receives the instruction through the remote control signal receiver 433 in a wireless communication mode, then the command signal is transmitted to the PLC (namely the first PLC) on the tower through CAN communication, the PLC on the tower maps the control command signal to the existing PLC of the tower crane through I/O, and therefore each executing mechanism of the tower crane executes corresponding rotation, amplitude variation and lifting actions according to the transmitted command, and the tower crane is controlled in a remote controller mode.
The system described in this embodiment further includes: the intelligent safety helmet with the positioning function is in wireless connection with an industrial personal computer at a ground control end. Furtherly still is provided with camera and first microphone on the cap body of intelligent security cap, has shooting and conversation function, and camera and first microphone all with the industrial computer wireless connection of ground control end.
In order to implement the voice call function, the ground control terminal in this embodiment further includes: and the second microphone is arranged on the upper surface of the ground control end platform body and is connected with the industrial personal computer.
The intelligent safety helmet, the webpage login safety helmet monitoring system installed in the industrial personal computer, the second microphone and the display screen jointly form the intelligent safety helmet monitoring system. Wherein, intelligent safety helmet is carried by the scene person of hanging by giving birth to and is worn, has functions such as location, conversation, shooting video, communicates through 4G signal and ground control end. The operation driver logs in through the safety helmet monitored control system that display screen 3 shows on ground control end, and this system can show the position that intelligent safety helmet was located in real time based on big dipper navigation, and the operation driver can carry out the hanging personnel with the scene at any time and send pronunciation, the video conversation request, and the intelligent safety helmet can convey the industrial computer of ground control end with the picture of scene shooting to show through display screen 3. The method not only increases more field visual angles to facilitate judgment of an operator, but also facilitates timely communication between the operator and field hoisting personnel, and reduces misoperation.
The number of display screens in this embodiment is 3, as shown in fig. 3. The display screen 1 and the display screen 2 are used for displaying real-time shooting pictures of the first camera and the second camera, an operation driver can log in a video management system according to personal operation habits to set the video pictures, and the video management system is installed in an industrial personal computer and belongs to a part of a path planning system in the industrial personal computer. In practical applications, the leftmost display screen 1 shown in fig. 3 is used to display auxiliary viewing angle pictures that are not commonly used; the middle display screen 2 is used for displaying a main visual angle picture of hoisting operation; the rightmost display screen 3 is used for displaying a login interface of the safety helmet monitoring system, and the safety helmet monitoring system displays the current position of the intelligent safety helmet in real time based on Beidou satellite navigation. When an operator carries out video call with a field crane worker through the ground control end, the front picture of the intelligent safety helmet worn by the field crane worker can be shot, the operator can clearly know the environment around the hoisting equipment according to the shot picture, and then the linkage table is controlled through the linkage table operating handle to hoist cargoes. In this embodiment, in order to facilitate the actual operation, simulate real tower operating environment on, the linkage platform divide into left linkage platform and right linkage platform two parts. The linkage platform in the embodiment has the same structure and function as the linkage platform on the existing tower crane.
In this embodiment, the driver seat is further arranged in front of the ground control end, and the ground control end and the driver seat are both arranged in a preset ground control room. As shown in fig. 3, the ground control room is further provided with an electric control cabinet of the ground control end and a charging placement cabinet of the intelligent safety helmet.
In this embodiment, the ground control terminal further includes: the touch screen is embedded on the upper surface of the ground control end table body and connected with the industrial personal computer and used for displaying various system parameters of the industrial personal computer, and an operation driver can set the various system parameters through the touch screen.
Specifically, a path planning system is installed in an industrial personal computer at the ground control end, and the path planning system is a set of each subsystem, as shown in fig. 6. The path planning system in this embodiment displays states of the main interface, the camera control, the safety monitoring system, the intelligent safety helmet communication, the system setting and the like through the display screen shown in fig. 3, and an operator can set the system state through the touch screen and control the tower crane to operate. The main interface displays boundary setting, algorithm debugging, task mode, motion control parameters and the like of the tower crane; the camera control interface displays manual or automatic control mode selection, installation horizontal or vertical deviation of the dome camera 1/2, vertical up/down, horizontal left/right, zooming-in and zooming-out commands in the manual control mode, and viewing angle allowable deviation percentage, shot picture vertical range and lifting rope length in the automatic control mode; the safety monitoring system displays the current height, amplitude, rotation angle, weight, moment, wind speed, maximum working height/amplitude, moment limit, amplitude limit, hoisting weight limit, rotation limit, height limit, wind speed limit and other information of the lifting hook in real time; the intelligent safety helmet monitoring system interface displays the coordinate value of each intelligent safety helmet in real time and can call the intelligent safety helmet; the system setting interface is selected by the type of the electric control system, the remote control mode and the control mode.
The control modes in this embodiment include three types, which are driver control, remote control, and automatic operation control. During the period, a tower crane driver/operation driver can work together with on-site hoisting personnel.
The driver control mode refers to a mode that a tower crane driver/operation driver controls the tower crane through the operation of a linkage desk at the ground control end. The specific implementation mode is that the commands of lifting, rotating, amplitude changing, emergency stop, weather vane, bypass and the like of the linkage table are mapped to the PLC below the tower (namely the second PLC), then the PLC below the tower packages the commands and the commands sent by the path planning system, communicates and sends the commands to the PLC on the tower through the POWERLINK, finally the PLC on the tower is connected with the original PLC on the tower crane, and the commands of input and output signals are mapped to each actuating mechanism of the tower crane, so that the control of the tower crane is realized. Meanwhile, PLC on the tower can communicate through POWERLINK and transmit the signals such as indicator light moment red, indicator light moment yellow, indicator light weight red, indicator light weight yellow, indicator light buzzer, wind vane indicator light to PLC under the tower, and the I/O port through PLC under the tower maps to the linkage table at last.
The remote control mode refers to a mode that a field operator holds a remote controller to control the tower crane. The remote controller sends operation instructions, such as upward lifting hook, downward lifting hook, outward trolley amplitude, inward trolley amplitude, slewing of the tower crane, starting, emergency stop and the like, the receiver of the remote controller on the tower receives the instructions and then is connected to the PLC on the tower through the CAN communication bus, the PLC on the tower sends the instructions to the original PLC on the tower crane, and finally the instructions of input and output signals are mapped to each execution mechanism of the tower crane, so that the tower crane is controlled. However, the driver control mode has absolute priority for controlling the tower crane, that is, when the on-site hoisting personnel remotely control the tower crane to perform improper operation, the driver can timely rob the on-site hoisting personnel for controlling the tower crane during any operation on the tower crane on the linkage table.
The automatic operation mode refers to a mode in which the tower crane automatically operates according to a program setting state.
According to the ground control tower crane system, the cameras are arranged on the balance arm, the crane arm, the load-carrying trolley and the swing mechanism of the tower crane and are connected with the industrial personal computer in the ground control end, so that a construction picture focused by a driver can be displayed on the display screen in a multi-angle and all-around manner, potential safety hazards during operation of the tower crane are reduced, and the construction efficiency is improved; and because the first PLC and the second PLC are respectively arranged on the tower crane and under the tower crane, the system can transmit the instructions of the linkage table and the industrial personal computer to the first PLC through the second PLC and further transmit the instructions to the existing tower crane PLC on the tower crane to be controlled, and the operation of the actuating mechanism of the tower crane is controlled through the tower crane PLC. Meanwhile, the integrated packaging arrangement of each device in the ground control end enables an operator to carry out normal operation under the tower on the premise of not changing the original operation habit on the tower.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and these simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the foregoing embodiments may be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.

Claims (14)

1. A hoisting method is characterized by comprising the following steps:
acquiring a plurality of on-site construction images and hoisting operation information of hoisting operation equipment, wherein the hoisting operation information comprises hoisting position information and hook falling position information;
monitoring the execution of the hoisting operation at a ground control end according to the site construction image and the hoisting operation information in the process of hoisting operation of the hoisting operation equipment according to the execution instruction;
the ground control terminal includes: the device comprises a platform body, an industrial personal computer, a second PLC, a display screen and a linkage platform for receiving an operation command; the second PLC is respectively connected with the first PLC and the linkage table, the plurality of first cameras, the second PLC and the display screen are all connected with the industrial personal computer, the second PLC and the linkage table are all packaged in the table body, and the display screen is arranged on the table body; the first PLC is connected with the tower crane PLC;
the control mode of the hoisting operation equipment comprises the following steps: a driver control mode, a remote control mode and an automatic operation control mode;
the driver control mode is a mode of controlling the tower crane through the operation of the linkage table of the ground control end, and comprises the following steps: mapping the command of the linkage table to a second PLC, and packaging and sending the command of the linkage table and the command sent by the path planning system to the first PLC by the second PLC; the first PLC forwards the received instruction to a tower crane PLC;
the remote control mode is a mode of controlling the tower crane through a portable control device, and comprises the following steps: the tower remote controller receiver receives a command of the portable control device and then is connected to a first PLC through a CAN communication bus, and the first PLC sends the command to a tower crane PLC;
the driver control mode has a higher priority than the remote control mode, including: a driver can timely break the control right of field hoisting personnel when performing any operation on the tower crane on the linkage table;
hoist and mount operation equipment still includes intelligent safety helmet monitored control system, intelligent safety helmet monitored control system includes: the intelligent safety helmet, the webpage login safety helmet monitoring system installed in the industrial personal computer, the second microphone and the display screen are arranged on the intelligent safety helmet; the intelligent safety helmet is worn by field hoisting personnel; the safety helmet monitoring system displays on a display screen on the ground control end to accept the login of an operation driver; the intelligent safety helmet transmits the scene shot pictures to an industrial personal computer at the ground control end, and the pictures are displayed through the display screen.
2. The hoisting method of claim 1 wherein the execution instructions are from a path planning subsystem or field crane personnel.
3. Hoisting method according to claim 1 or 2, wherein said monitoring of the execution of said hoisting operation comprises:
monitoring system parameters of the hoisting operation equipment in the process of executing hoisting operation;
and when any one of the system parameters exceeds a preset threshold corresponding to the parameter, issuing an alarm instruction and/or issuing an emergency stop instruction.
4. Hoisting method according to claim 1 or 2, wherein the monitoring of the execution of the hoisting operation comprises:
judging whether an obstacle exists in the hoisting operation process according to the site construction image;
and when the obstacle is determined to exist, giving an emergency stop instruction to the hoisting operation equipment.
5. The hoisting method of claim 2, wherein in case the execution instruction is from a path planning subsystem, the execution instruction is generated by:
acquiring lifting position information and hook falling position information in the lifting operation information;
determining a hoisting path according to the hoisting position information and the hook falling position information, wherein the hoisting path comprises a rotation angle to be executed by hoisting operation equipment, a variable amplitude and a hook height;
and generating an execution instruction for controlling the hoisting operation equipment according to the hoisting path.
6. The hoisting method of claim 5, wherein the path planning subsystem, in generating the execution instruction, further comprises:
judging whether an obstacle exists in the hoisting path according to the site construction image;
and when the obstacle is determined to exist, replanning the hoisting path to bypass the obstacle.
7. Hoisting method according to claim 2, wherein in case the execution instruction is from a field crane operator, the execution instruction is obtained by:
and the field hoisting personnel send an execution instruction to the hoisting operation equipment through the portable control equipment.
8. The hoisting method of claim 1, wherein the site construction image comprises: and shooting images on site behind a balance arm, in front of a crane boom, below a load-carrying trolley and below a slewing mechanism of the hoisting operation equipment.
9. The hoisting method of claim 8, wherein the site operation image further comprises: and tracking and shooting a lifting operation image of a lifting hook and a lifted object below the load-carrying trolley.
10. The hoisting method of claim 8, wherein the site operation image further comprises: the method comprises the steps that field operation images of field lifting personnel are shot through a mobile image acquisition device arranged on a safety helmet worn by the field lifting personnel.
11. Hoisting method according to claim 3, characterized in that the system parameters comprise one or more of the following: lifting hook height, lifting hook amplitude, lifting hook rotation angle, hoisting weight and jib inclination angle.
12. The hoisting method of claim 2, wherein the path planning subsystem is further configured to: setting state parameters of hoisting operation equipment, setting a display mode of the site construction image and setting a control mode of the hoisting operation equipment.
13. A hoist control system, comprising:
at least one processor;
a memory coupled to the at least one processor;
wherein the memory stores instructions executable by the at least one processor, and the at least one processor implements the hoist method of any one of claims 1 to 12 by executing the instructions stored by the memory.
14. A working machine, characterized in that it is equipped with a hoist control system according to claim 13.
CN201911109435.9A 2019-11-13 2019-11-13 Hoisting method, hoisting control system and engineering machinery Active CN112794208B (en)

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