CN106516984A - Unmanned tower crane control system based on wireless communication network and implementing method - Google Patents
Unmanned tower crane control system based on wireless communication network and implementing method Download PDFInfo
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- CN106516984A CN106516984A CN201611244620.5A CN201611244620A CN106516984A CN 106516984 A CN106516984 A CN 106516984A CN 201611244620 A CN201611244620 A CN 201611244620A CN 106516984 A CN106516984 A CN 106516984A
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- tower crane
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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
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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
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
- B66C13/44—Electrical transmitters
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention discloses an unmanned tower crane control system based on a wireless communication network and an implementing method. The control system comprises a tower crane mainframe, a bridging device, a remote controller, a monitoring and control station and a tower crane. The tower crane mainframe comprises a wireless AP emitter, a mainframe controller, a sensor and a camera. The remote controller comprises a first control flat panel and a second control panel, which are used for receiving data of the sensor and the camera and sending a control command. The monitoring and control station comprises a wireless access module and a server. The tower crane comprises a tower crane controller, a console and a change-over switch. The data of the sensor and the camera of the tower crane at a high position are obtained through the wireless local area network, an operator uses the remote controller to control the tower crane remotely, the monitoring and control station on the ground is used for displaying and storing the data of the sensor and the camera and controlling the command data, the operator does not need to enter a cab of the tower crane to control the tower crane, the working environment of the operator on the tower crane is improved, and the labor cost is reduced.
Description
Technical field
The present invention relates to tower crane Construction Control field, more particularly to a kind of nobody based on wireless communication networks
Tower crane control system and implementation method.
Background technology
Tower crane is a kind of crane gear the most frequently used on construction site also known as derrick crane, with a section spreading
（It is high）（Referred to as " standard knot "）, for hanging the raw material of the constructions such as working reinforcing bar, wood stupefied, concrete, steel pipe, tower crane is work
A kind of requisite equipment on the ground.
In prior art, tower crane operator up to hundred meters accommodation stairways must be reached at the top of tower crane along in tower crane
Tower crane is operated in narrow and small driver room.As upper and lower tower crane is extremely bothered, operator's working time long-time is stayed in
The drivers' cab of inclement condition, the rescue when operator occur unexpected can also become extremely complex.Operator are in driver simultaneously
Room cannot in most cases be clearly seen material transfer situation and can only command by commanding, and operation is careless slightly will to be occurred
It is unexpected.And the multiple operator of whole operation process needs work in coordination, so existing tower crane technology must be operated
It is to need tower crane operator and commanding to coordinate jointly, expends a large amount of manpowers.
Therefore, prior art has yet to be improved and developed.
The content of the invention
The technical problem to be solved in the present invention is, for the drawbacks described above of prior art, there is provided a kind of to be based on channel radio
News network unmanned tower crane control system and implementation method, it is intended to by WLAN obtain eminence tower crane sensor and
Photographic head data, operator are by remote control remotely control tower crane under the auxiliary of sensor and photographic head data, the system
System also has monitoring station for showing simultaneously storage sensor and photographic head data and control instruction data, without the need for operator on ground
Member controls tower crane to the driver's cabin on tower crane, improves tower crane operator's working environment, saves human cost.
The technical proposal for solving the technical problem of the invention is as follows：
A kind of unmanned tower crane control system based on wireless communication networks, wherein, the unmanned tower based on wireless communication networks
Hanging control system includes：
Tower crane main frame, bridge-set, remote control, monitoring station and tower crane；
The tower crane main frame carries out wired connection with tower crane, and the remote control and monitoring station pass through wirelessly to be connected with tower crane main frame,
Or the remote control and monitoring station are connected by bridge-set with tower crane main frame when building blocks wireless signal；
The tower crane main frame includes wireless apss emitter, console controller, sensor and photographic head；
The wireless apss emitter for by being connected collection sensing data and photographic head data and connecing with console controller
The control instruction of remote control is received, and the console controller is used to gather and sensing data is sent and by network interface by network interface
Receive the instruction sent of remote control, the sensor is used to gathering tower crane running state data, the photographic head be used for monitoring and
Auxiliary tower crane remote manipulation；
The wireless signal that remote control, monitoring station and tower crane main frame are connected to bridge wireless apss emitter is expanded by the bridge-set
Big WLAN coverage；
The remote control include for take the sensor and photographic head Data Concurrent send the first of control instruction control flat board, the
Two control flat boards；
The monitoring station includes radio access module, server；
The radio access module is used to access WLAN, or is directly connected to wireless apss emitter or by bridging dress
Put and be connected to wireless apss emitter, the server is used to show and storage sensor and photographic head data and control instruction；
The tower crane includes tower crane controller, bridge and switching switch；
On tower crane controller, tower crane controller is connected to manually with bridge the switching switch by switching switch
Control tower crane, or tower crane controller is switched by switching and console controller is connected to controlled in wireless tower crane.
The described unmanned tower crane control system based on wireless communication networks, wherein, the wireless apss emitter adopts shape
Formula is wireless bridge；
The console controller type is PLC processor；
The sensor includes for gathering the air velocity transducer of wind speed information, for gathering the torque sensor of moment information,
For gathering the range sensor of jib lubbing mechanism amplitude information, for gathering the height sensor of height under hook information, for adopting
The angular transducer of collection slew gear angle information, for gathering the obliquity sensor at tower crane angle of inclination, for sound is believed
The ultrasonic sensor of the signal of telecommunication number is converted into, for gathering the voltage sensitive sensor of pressure information；
The photographic head model POE IP Camera.
The described unmanned tower crane control system based on wireless communication networks, wherein, the bridge-set is using point-to-point
Bridge joint or point-to-points bridge joint.
The described unmanned tower crane control system based on wireless communication networks, wherein, number of plates is controlled in the remote control
Measure for several, when arrange it is multiple control flat board when, synchronization can only arrange one control flat board control tower crane main frame.
The described unmanned tower crane control system based on wireless communication networks, wherein, the control flat board in the remote control
It is provided with for recognizing recognition of face and the fingerprint recognition of operator.
The described unmanned tower crane control system based on wireless communication networks, wherein, the first control flat board and second
Control flat board adopts model panel computer；The radio access module adopts wireless router；The server adopts PC.
A kind of unmanned tower crane control method based on wireless communication networks, it is characterised in that methods described includes：
Step A, tower crane controller control switching switch are connected to console controller；
Step B, console controller receive sensor acquisition and be sent to wireless apss emitter to after data, and photographic head will be collected
View data is sent to wireless apss emitter；
Step C, remote control and monitoring station pass through wirelessly to be connected with tower crane main frame, or pass through when building blocks wireless signal
Bridge-set is wirelessly connected；
Step D, remote control obtain the data of sensor and photographic head by accessing wireless apss emitter or bridge-set, while
Control instruction is sent to into bridge-set or wireless apss emitter；
Step E, monitoring station receive data and the control of the sensor and photographic head of bridge-set or the transmission of wireless apss emitter
The data of system instruction simultaneously show and store；
Step F, the control instruction solution that console controller is directly received by wireless apss emitter or forwarded by bridge-set
According to corresponding instruction control tower crane work after analysis.
The described unmanned tower crane control method based on wireless communication networks, wherein, the console controller is in tower
Whether normal pass through sensing data real-time judge tower crane state when hanging work, work of starting shooting when normal is led to if tower crane is abnormal
The alarm device crossed on tower crane carries out reporting to the police and safety arrestment.
The described unmanned tower crane control method based on wireless communication networks, wherein, the control flat board in remote control
Control tower crane operating area includes：Material starts shipment area, material transfer area and material purpose area, in different operating areas by not
Same control flat board control, and one control flat board control tower crane main frame can only be set in synchronization.
The described unmanned tower crane control method based on wireless communication networks, wherein, the wireless apss emitter is used
In by being connected collection sensing data and photographic head data with console controller and receiving the control instruction of remote control；
The console controller type is PLC processor, and the PLC processor receives the analogue signal of sensor, by simulation letter
Number digital signal is converted to, then digital signal is modified, delete, strengthened, and by digital signal encoding in System on Chip/SoC
Into data frame format, then wireless apss emitter is sent to by network interface, while the PLC processor is sent out from wireless apss by network interface
Emitter receives the control instruction that remote control is sent, and then PLC processor parses the control instruction, and corresponding change I/O port shape
State, so as to control tower hoisting controller；
The photographic head model POE IP Camera, the photographic head are converted into the video information of simulation after analogue signal
By System on Chip/SoC using after H.265 coding techniques is compressed to video information, regarded using RTSP protocol transmissions by network interface
Frequency information；
The sensor includes for gathering the air velocity transducer of wind speed information, for gathering the torque sensor of moment information,
For gathering the range sensor of jib lubbing mechanism amplitude information, for gathering the height sensor of height under hook information, for adopting
The angular transducer of collection slew gear angle information, for gathering the obliquity sensor at tower crane angle of inclination, for sound is believed
The ultrasonic sensor of the signal of telecommunication number is converted into, for gathering the voltage sensitive sensor of pressure information.
The invention discloses a kind of unmanned tower crane control system and implementation method based on wireless communication networks, the system
Including tower crane main frame, bridge-set, remote control, monitoring station and tower crane；The tower crane main frame carries out wired connection, institute with tower crane
Remote control and monitoring station and tower crane main frame are stated by wirelessly being connected, or when building blocks wireless signal the remote control with
Monitoring station is connected by bridge-set with tower crane main frame；The tower crane main frame includes wireless apss emitter, console controller, sensing
Device and photographic head；The remote control includes sending the first of control instruction to control for taking the sensor and photographic head Data Concurrent
Flat board processed, the second control flat board；The monitoring station includes radio access module, server；The tower crane include tower crane controller,
Bridge and switching switch；The present invention obtains the sensor and photographic head data of eminence tower crane, behaviour by WLAN
Make personnel by remote control remotely control tower crane under the auxiliary of sensor and photographic head data, the system is also supervised on ground
Control station is used for showing and storage sensor and photographic head data and control instruction data, without the need for driving on operator to tower crane
Sail room to control tower crane, improve tower crane operator's working environment, save human cost.
Description of the drawings
Fig. 1 is the principle schematic diagram. of tower crane of the present invention.
Fig. 2 is principle schematic diagram. of the present invention based on the unmanned tower crane control system of wireless communication networks.
Fig. 3 is flow process of the present invention based on the preferred embodiment of the unmanned tower crane control method of wireless communication networks
Figure.
Specific embodiment
To make the objects, technical solutions and advantages of the present invention clearer, clear and definite, develop simultaneously embodiment pair referring to the drawings
The present invention is further described.It should be appreciated that specific embodiment described herein is only to explain the present invention, and without
It is of the invention in limiting.
Fig. 1 is referred to, Fig. 1 is the principle schematic diagram. of tower crane of the present invention.As shown in figure 1, the tower crane includes basis
Cushion cap 1, base section 2, standard knot 3, stock 4, set body panel 5, introduce platform 6, driver's cabin 7, jib lubbing mechanism 8, crane arm 9, hang
Hook 10, amplitude variation trolley 11, variable-amplitude steel wire rope 12, clamping plate 13, lifting arm brace 14, tower cap 15, balance arm brace 16, raising steel wire
Rope 17, counter weight device 18, lifting mechanism 19, counter-jib 20, support forearm 21, support rear wall 22.During conventional tower crane operation, tower crane
Operator must be up to the narrow and small driver's cabin 7 at the top of hundred meters of accommodation stairways arrival tower cranes along in tower crane and tower crane is carried out
Operation, as upper and lower tower crane is extremely bothered, operator's working time long-time stays in the drivers' cab of inclement condition, works as operator
Rescue when member occurs unexpected can also become extremely complex, while operator cannot be in most cases clearly seen in drivers' cab
Material transfer situation can only be commanded by commanding, and operation is careless slightly will to occur accident.Last existing tower crane technology morning exercises
Work is to need tower crane operator and commanding to expend a large amount of manpowers.
The present invention adopt wireless remote-control system by the console controller of numerous sensing datas also incoming new access, in nothing
In line remote control systems, instead of original black box with the server on ground is used for the data record of tower crane, in wireless remote-control system
In, in specific position（Such as the present invention is at support forearm 1/2 and support rear wall 1/2）Two photographic head of addition are used for
The collection of image, carries out practical operation into driver's cabin 7 without the need for operator, carries out wireless remote control by controlling flat board, not only
The safety of operator is ensure that, the operating efficiency of tower crane is also improved.
Based on above-mentioned tower crane structure, the invention provides a kind of unmanned tower crane control system based on wireless communication networks,
Fig. 2 is referred to, Fig. 2 is principle schematic diagram. of the present invention based on the unmanned tower crane control system of wireless communication networks.Such as Fig. 2
It is shown, including tower crane main frame 100, bridging based on the unmanned tower crane control system of wireless communication networks described in the embodiment of the present invention
Device 200, remote control 300,500 5 parts of monitoring station 400 and tower crane；The tower crane main frame 100 is had with tower crane 500
Line connects, and the remote control 300 and monitoring station 400 pass through wirelessly to be connected with tower crane main frame 100, or when building is blocked wirelessly
During signal, the remote control 300 and monitoring station 400 are connected by bridge-set 200 with tower crane main frame 500；That is remote control
300 directly can be connected by WLAN and tower crane main frame 500, monitoring station 400 can directly by WLAN and tower crane
Main frame 500 connects, simply when building blocks wireless signal（Wireless connection signal is obstructed or bad）, 300 He of remote control
Monitoring station 400 just can be connected by bridge-set 200 with tower crane main frame 500, and the bridge-set 200 is filled equivalent to a transfer
Put.
The tower crane main frame 100 includes wireless apss emitter 110, console controller 120, sensor 130 and photographic head
140；The wireless apss emitter 110 for by being connected collection sensing data and photographic head data with console controller 120
And receive the control instruction of remote control 300；The console controller 120 is used to gather and send sensing data by network interface
And the instruction that remote control 300 is sent is received by network interface, the sensor 130 is used to gather tower crane running state data, institute
Photographic head 140 is stated for monitoring and aiding in tower crane remote manipulation.
Remote control 300, monitoring station 400 are connected to bridge wireless apss by the bridge-set 200 with tower crane main frame 100
The wireless signal of emitter 110 expands WLAN coverage, so as to solve the problems, such as that barrier blocks wireless signal.It is described
Bridge-set 200 adopts point-to-point bridge joint or point-to-points bridge joint, very big extended wireless network coverage.
The remote control 300 includes sending the of control instruction for taking the sensor 130 and 140 Data Concurrent of photographic head
The one control control flat board 320 of flat board 310, second.
The monitoring station 400 includes radio access module 410 and server 420；The radio access module 410 is used to connect
Enter WLAN, or be directly connected to wireless apss emitter 110 or wireless apss emitter is connected to by bridge-set 200
110, the server 420 is used to show and storage sensor 130 and 140 data of photographic head and control instruction.
The tower crane 500 includes tower crane controller 510, bridge 520 and switching switch 530；The switching switch 530
On tower crane controller 510, tower crane controller 510 is connected to artificial control by switching switch 530 and bridge 520
Tower crane 500, or tower crane controller 510 passes through to switch switch 530 and console controller 120 is connected to controlled in wireless tower crane
500。
Center of the wireless apss emitter 110 as WLAN, the wireless apss emitter 110 adopt form
For wireless bridge；The bridge-set 200 is used for the signal for bridging wireless apss emitter 110, and the bridge-set 200 is preferably adopted
Use wireless bridge.Wireless bridge used by wireless apss emitter 110 both may be configured as ap mode and cause by network interface connection in nothing
The console controller 120 and photographic head 140 of line AP emitters 110, and wirelessly it is connected to wireless apss emitter 110
Control flat board（First control flat board 310 and the second control flat board 320）And radio access module（Wireless router）410 access
Same LAN, the wireless bridge bridge joint that can be also set to bridge mode with bridge-set 200 are used so that existed by network interface connection
The console controller 120 and photographic head 140 of wireless apss emitter 110, and wirelessly it is connected to wireless apss emitter
110 or first control flat board 310, the second control flat board 320 and wireless router of bridge-set 200 access same local
Net.
120 type of the console controller is PLC processor；PLC（Programmable Logic Controller：Can
Programmed logic controller）It is a kind of using a class programmable memory, for its internally stored program, execution logic computing,
The user oriented instructions such as sequential control, timing, counting and arithmetical operation, and by numeral or analog pattern input/output control
Various types of machineries or production process.PLC processor, which has reliability high, the characteristics of strong antijamming capability.At the PLC
The course of work of reason device is the analogue signal for receiving sensor 130, is converted to digital signal, then digital signal is modified,
Delete, strengthen, and by digital signal encoding journey data frame format in other systems chip, then wireless apss are sent to by network interface
Emitter 110, while the PLC processor can pass through network interface referring to from the control that the reception remote control 300 of wireless apss emitter 110 is sent
Make, then PLC processor can parse control instruction, and corresponding change I/O port state, so as to control tower hoisting controller 510.
The sensor 130 is included for gathering the air velocity transducer of wind speed information, for gathering the moment of torsion of moment information
Sensor, for gathering the range sensor of jib lubbing mechanism amplitude information, for gathering the height sensor of height under hook information,
For gathering the angular transducer of slew gear angle information, for gathering the obliquity sensor at tower crane angle of inclination, for inciting somebody to action
Acoustical signal is converted into the ultrasonic sensor of the signal of telecommunication, for gathering the voltage sensitive sensor of pressure information；Above-mentioned these sensings
The effect of device is to understand tower crane working condition and working environment to aid in tower crane to operate for operator, so can be with root
Need to increase the sensor of some other types according to practical situation, to be better understood by tower crane working condition and building ring
Border.
140 model POE IP Camera of the photographic head.POE (Power Over Ethernet：Active Ethernet)
Refer in the case where existing Ethernet Cat.5 wirings architecture does not make any changes, for some IP-based ends
End（Such as IP telephone machine, wireless local network connecting point AP, web camera etc.）While transmission data signal, moreover it is possible to set for such
The standby technology that direct current supply is provided.POE technologies just can ensure existing network while guaranteeing that existing structureization wiring is safe
Often operate, to greatest extent reduces cost.POE is also referred to as electric power system (POL, the Power over LAN based on LAN
) or active Ethernet (Active Ethernet), also it is called sometimes POE for short, this is using existing standard ether
The newest standards specification of data and electrical power is transmitted while net transmission cable, and is maintained and existing Ethernet system and user
Compatibility.IEEE 802.3af standards are the new standards based on POE system POE, and it is on the basis of IEEE 802.3
On increased relevant criterion by the direct power supply of netting twine, be the extension of existing ethernet standard, and first with regard to power supply
The international standard of distribution.The photographic head 140 of the present invention preferably adopts POE IP Camera, and which has easy for installation, meets various
The characteristics of interface protocol, the photographic head, pass through CMOS（Complementary Metal Oxide Semiconductor）Sensing
The video information of simulation is converted into analogue signal by device, video is believed using H.265 coding techniques by built-in system chip afterwards
Breath compression, adopts RTSP protocol transmission video informations finally by network interface.
It is several that flat board quantity is controlled in the remote control 300, when multiple control flat boards are arranged, in synchronization only
One control flat board control tower crane main frame can be set.
Control flat board in the remote control 300 is provided with for recognizing recognition of face and the fingerprint recognition of operator,
The operator for having operating right must could use remote control 300 after recognition of face or fingerprint recognition checking.
The first control flat board 310 and the second control flat board 320 adopt model panel computer（Come with WIFI functions
Identification function, any model）, the sensor 130 and 140 data of photographic head of tower crane main frame 100 can be obtained and be displayed in
Human-computer interaction interface, operator control tower crane 500 by human-computer interaction interface, and panel computer parsing operational order is by wireless
LAN is sent to tower crane main frame 100.Remote control 300 includes the first control flat board 310 and the second control flat board 320, the first control
Flat board processed 310 and the second control flat board 320 are used to receive sensor 130 and 140 data of photographic head and send control instruction, the
One control flat board 310 and the second control flat board 320 preferably adopt panel computer, panel computer to access WLAN by WIFI
Sensor and photographic head data can be received after network, panel computer passes through UI after sensor and photographic head data are processed（User
Interface）Interface display sensing data and video information；Operator on UI interfaces are clicked on or are slided with crossing simultaneously
Operational control tower crane 500, by parsing operator's control instruction and being sent to tower crane main frame 100 by WLAN.
The radio access module 410 in the monitoring station 400 adopts wireless router；The server 420 is adopted
PC.Radio access module 410 is used to cause 420 access to LAN of server, and the radio access module 410 is preferably using without circuit
By device；Server 420 preferably adopts common PC.Wireless router is set to Client patterns, and PC is linked into LAN by network interface
After obtaining sensor and photographic head data and control instruction data afterwards, supporting upper computer software can show and storage sensor and
Photographic head data and control instruction data.The server 420 is connected by wireless equivalent to a server on ground
Transmission data, has also accessed the Internet, and which has following benefit with for black box relatively：On the ground, it is easy to safeguard；It is connected into mutually
Real time inspection is easy in networking, data；Put on the ground, it is safer.
Fig. 3 is referred to, Fig. 3 is preferable enforcement of the present invention based on the unmanned tower crane control method of wireless communication networks
The flow chart of example.
As shown in figure 3, a kind of unmanned tower crane control realization side based on wireless communication networks provided in an embodiment of the present invention
Method, comprises the following steps：
Step S100, tower crane controller control switching switch are connected to console controller；
Step S200, console controller receive sensor acquisition and wireless apss emitter are sent to after data, and photographic head will be gathered
To view data be sent to wireless apss emitter；
Step S300, remote control and monitoring station pass through wirelessly to be connected with tower crane main frame, or when building blocks wireless signal
Wirelessly connected by bridge-set；
Step S400, remote control obtain the data of sensor and photographic head by accessing wireless apss emitter or bridge-set,
Control instruction is sent to into bridge-set or wireless apss emitter simultaneously；
Step S500, monitoring station receive the data of the sensor that bridge-set or wireless apss emitter send and photographic head and
The data of control instruction simultaneously show and store；
Step S600, the control instruction that console controller is directly received by wireless apss emitter or forwarded by bridge-set
According to corresponding instruction control tower crane work after parsing.
The described unmanned tower crane control method based on wireless communication networks, wherein, the console controller is in tower
Whether normal pass through sensing data real-time judge tower crane state when hanging work, work of starting shooting when normal is led to if tower crane is abnormal
The alarm device crossed on tower crane carries out reporting to the police and safety arrestment.
Control flat board control tower crane operating area in the remote control includes：Material starts shipment area, material transfer area and
Material purpose area, multiple operators or same operator can start shipment area, material transfer area and material purpose in material
Area carries out Discrete control, is controlled by different control flat boards in different operating areas, and when there is multiple remote controls, same
One moment can only arrange a control flat board control tower crane main frame.
The wireless apss emitter for by be connected with console controller collection sensing data and photographic head data with
And receive the control instruction of remote control；
The console controller type is PLC processor, and the PLC processor receives the analogue signal of sensor, by simulation letter
Number digital signal is converted to, then digital signal is modified, delete, strengthened, and by digital signal encoding in System on Chip/SoC
Into data frame format, then wireless apss emitter is sent to by network interface, while the PLC processor is sent out from wireless apss by network interface
Emitter receives the control instruction that remote control is sent, and then PLC processor parses the control instruction, and corresponding change I/O port shape
State, so as to control tower hoisting controller；
The photographic head model POE IP Camera, the photographic head are converted into the video information of simulation after analogue signal
By System on Chip/SoC using after H.265 coding techniques is compressed to video information, regarded using RTSP protocol transmissions by network interface
Frequency information；
The sensor includes for gathering the air velocity transducer of wind speed information, for gathering the torque sensor of moment information,
For gathering the range sensor of jib lubbing mechanism amplitude information, for gathering the height sensor of height under hook information, for adopting
The angular transducer of collection slew gear angle information, for gathering the obliquity sensor at tower crane angle of inclination, for sound is believed
The ultrasonic sensor of the signal of telecommunication number is converted into, for gathering the voltage sensitive sensor of pressure information.
The invention discloses a kind of unmanned tower crane control system and implementation method based on wireless communication networks, the system
Including tower crane main frame, bridge-set, remote control, monitoring station and tower crane；The tower crane main frame carries out wired connection, institute with tower crane
Remote control and monitoring station and tower crane main frame are stated by wirelessly being connected, or when building blocks wireless signal the remote control with
Monitoring station is connected by bridge-set with tower crane main frame；The tower crane main frame includes wireless apss emitter, console controller, sensing
Device and photographic head；The remote control includes sending the first of control instruction to control for taking the sensor and photographic head Data Concurrent
Flat board processed, the second control flat board；The monitoring station includes radio access module, server；The tower crane include tower crane controller,
Bridge and switching switch；The present invention obtains the sensor and photographic head data of eminence tower crane, behaviour by WLAN
Make personnel by remote control remotely control tower crane under the auxiliary of sensor and photographic head data, the system is also supervised on ground
Control station is used for showing and storage sensor and photographic head data and control instruction data, without the need for driving on operator to tower crane
Sail room to control tower crane, improve tower crane operator's working environment, save human cost.
Certainly, one of ordinary skill in the art will appreciate that all or part of flow process in realizing above-described embodiment method,
Can be by computer program to instruct related hardware（Such as processor, controller etc.）To complete, described program can be stored
In the storage medium of an embodied on computer readable, the program is may include upon execution such as the flow process of above-mentioned each method embodiment.Its
Described in storage medium can be for memorizer, magnetic disc, CD etc..
It should be appreciated that the application of the present invention is not limited to above-mentioned citing, and for those of ordinary skills, can
To be improved according to the above description or be converted, all these modifications and variations should all belong to the guarantor of claims of the present invention
Shield scope.
Claims (10)
1. a kind of unmanned tower crane control system based on wireless communication networks, it is characterised in that described based on wireless communication networks
Unmanned tower crane control system include：
Tower crane main frame, bridge-set, remote control, monitoring station and tower crane；
The tower crane main frame carries out wired connection with tower crane, and the remote control and monitoring station pass through wirelessly to be connected with tower crane main frame,
Or the remote control and monitoring station are connected by bridge-set with tower crane main frame when building blocks wireless signal；
The tower crane main frame includes wireless apss emitter, console controller, sensor and photographic head；
The wireless apss emitter for by being connected collection sensing data and photographic head data and connecing with console controller
The control instruction of remote control is received, and the console controller is used to gather and sensing data is sent and by network interface by network interface
Receive the instruction sent of remote control, the sensor is used to gathering tower crane running state data, the photographic head be used for monitoring and
Auxiliary tower crane remote manipulation；
The wireless signal that remote control, monitoring station and tower crane main frame are connected to bridge wireless apss emitter is expanded by the bridge-set
Big WLAN coverage；
The remote control include for take the sensor and photographic head Data Concurrent send the first of control instruction control flat board, the
Two control flat boards；
The monitoring station includes radio access module, server；
The radio access module is used to access WLAN, or is directly connected to wireless apss emitter or by bridging dress
Put and be connected to wireless apss emitter, the server is used to show and storage sensor and photographic head data and control instruction；
The tower crane includes tower crane controller, bridge and switching switch；
On tower crane controller, tower crane controller is connected to manually with bridge the switching switch by switching switch
Control tower crane, or tower crane controller is switched by switching and console controller is connected to controlled in wireless tower crane.
2. the unmanned tower crane control system based on wireless communication networks according to claim 1, it is characterised in that the nothing
Line AP emitters adopt form for wireless bridge；
The console controller type is PLC processor；
The sensor includes for gathering the air velocity transducer of wind speed information, for gathering the torque sensor of moment information,
For gathering the range sensor of jib lubbing mechanism amplitude information, for gathering the height sensor of height under hook information, for adopting
The angular transducer of collection slew gear angle information, for gathering the obliquity sensor at tower crane angle of inclination, for sound is believed
The ultrasonic sensor of the signal of telecommunication number is converted into, for gathering the voltage sensitive sensor of pressure information；
The photographic head model POE IP Camera.
3. the unmanned tower crane control system based on wireless communication networks according to claim 1, it is characterised in that the bridge
Connection device adopts point-to-point bridge joint or point-to-points bridge joint.
4. the unmanned tower crane control system based on wireless communication networks according to claim 1, it is characterised in that described distant
It is several that flat board quantity is controlled in control device, when multiple control flat boards are arranged, can only arrange a control in synchronization flat
Plate controls tower crane main frame.
5. the unmanned tower crane control system based on wireless communication networks according to claim 4, it is characterised in that described distant
Control flat board in control device is provided with for recognizing recognition of face and the fingerprint recognition of operator.
6. the unmanned tower crane control system based on wireless communication networks according to claim 1, it is characterised in that described
One control flat board and the second control flat board adopt model panel computer；The radio access module adopts wireless router；Institute
State server and adopt PC.
7. a kind of unmanned tower crane control method based on wireless communication networks as described in any one of claim 1-6, its
It is characterised by, methods described includes：
Step A, tower crane controller control switching switch are connected to console controller；
Step B, console controller receive sensor acquisition and be sent to wireless apss emitter to after data, and photographic head will be collected
View data is sent to wireless apss emitter；
Step C, remote control and monitoring station pass through wirelessly to be connected with tower crane main frame, or pass through when building blocks wireless signal
Bridge-set is wirelessly connected；
Step D, remote control obtain the data of sensor and photographic head by accessing wireless apss emitter or bridge-set, while
Control instruction is sent to into bridge-set or wireless apss emitter；
Step E, monitoring station receive data and the control of the sensor and photographic head of bridge-set or the transmission of wireless apss emitter
The data of system instruction simultaneously show and store；
Step F, the control instruction solution that console controller is directly received by wireless apss emitter or forwarded by bridge-set
According to corresponding instruction control tower crane work after analysis.
8. the unmanned tower crane control method based on wireless communication networks according to claim 7, it is characterised in that institute
State console controller whether normal by sensing data real-time judge tower crane state when tower crane works, work of starting shooting when normal
Make, carry out reporting to the police by the alarm device on tower crane and safety arrestment if tower crane is abnormal.
9. the unmanned tower crane control method based on wireless communication networks according to claim 7, it is characterised in that distant
Control flat board control tower crane operating area in control device includes：Material starts shipment area, material transfer area and material purpose area, not
Same operating area is controlled by different control flat boards, and can only arrange a control flat board control tower crane master in synchronization
Machine.
10. the unmanned tower crane control method based on wireless communication networks according to claim 7, it is characterised in that
The wireless apss emitter for by being connected collection sensing data and photographic head data and receiving distant with console controller
The control instruction of control device；
The console controller type is PLC processor, and the PLC processor receives the analogue signal of sensor, by simulation letter
Number digital signal is converted to, then digital signal is modified, delete, strengthened, and by digital signal encoding in System on Chip/SoC
Into data frame format, then wireless apss emitter is sent to by network interface, while the PLC processor is sent out from wireless apss by network interface
Emitter receives the control instruction that remote control is sent, and then PLC processor parses the control instruction, and corresponding change I/O port shape
State, so as to control tower hoisting controller；
The photographic head model POE IP Camera, the photographic head are converted into the video information of simulation after analogue signal
By System on Chip/SoC using after H.265 coding techniques is compressed to video information, regarded using RTSP protocol transmissions by network interface
Frequency information；
The sensor includes for gathering the air velocity transducer of wind speed information, for gathering the torque sensor of moment information,
For gathering the range sensor of jib lubbing mechanism amplitude information, for gathering the height sensor of height under hook information, for adopting
The angular transducer of collection slew gear angle information, for gathering the obliquity sensor at tower crane angle of inclination, for sound is believed
The ultrasonic sensor of the signal of telecommunication number is converted into, for gathering the voltage sensitive sensor of pressure information.
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| CN108190749A (en) * | 2018-03-27 | 2018-06-22 | 山东天星北斗信息科技有限公司 | A kind of remote control apparatus of tower crane, control method and intelligent tower crane |
| CN108394816A (en) * | 2018-03-19 | 2018-08-14 | 沈阳建筑大学 | A kind of monitoring system of comprehensive suspension tower crane |
| CN108483262A (en) * | 2018-07-10 | 2018-09-04 | 南华大学 | A kind of tower crane and its control system |
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| CN108394816A (en) * | 2018-03-19 | 2018-08-14 | 沈阳建筑大学 | A kind of monitoring system of comprehensive suspension tower crane |
| CN108394816B (en) * | 2018-03-19 | 2019-10-15 | 沈阳建筑大学 | A kind of monitoring system of comprehensive suspension tower crane |
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| CN108483262A (en) * | 2018-07-10 | 2018-09-04 | 南华大学 | A kind of tower crane and its control system |
| CN108946490A (en) * | 2018-08-28 | 2018-12-07 | 姚景源 | A kind of safety driving monitoring system of construction site tower crane vehicle |
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| CN110127544A (en) * | 2019-06-13 | 2019-08-16 | 王福斌 | The unmanned intelligent command system of tower crane and command methods |
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| CN111891928A (en) * | 2020-06-09 | 2020-11-06 | 东南大学 | Architecture of unmanned intelligent hoisting system |
| CN111824963A (en) * | 2020-06-24 | 2020-10-27 | 山东富友慧明测控设备有限公司 | Intelligent tower crane wireless remote control system with pose perception technology and control method |
| CN113173503A (en) * | 2020-08-12 | 2021-07-27 | 深圳市鸿展智能环保科技有限公司 | Hoisting platform control system |
| CN112173973A (en) * | 2020-09-30 | 2021-01-05 | 程霖锋 | Tower crane remote real-time operation system |
| CN113239911A (en) * | 2021-07-12 | 2021-08-10 | 杭州大杰智能传动科技有限公司 | Unmanned intelligent tower crane visual scene analysis method and device |
| CN114604760B (en) * | 2022-01-24 | 2023-06-02 | 杭州大杰智能传动科技有限公司 | Intelligent tower crane structure with underneath cockpit and control method thereof |
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| IL292503A (en) * | 2022-04-25 | 2023-11-01 | Sky Line Cockpit Ltd | Remote crane tracking |
| WO2023209705A1 (en) * | 2022-04-25 | 2023-11-02 | Crane Cockpit Technologies Ltd | Remote crane tracking |
| IL292503B1 (en) * | 2022-04-25 | 2024-03-01 | Sky Line Cockpit Ltd | Remote crane tracking |
| IL292503B2 (en) * | 2022-04-25 | 2024-07-01 | Sky Line Cockpit Ltd | Remote crane tracking |
| CN114803859A (en) * | 2022-07-01 | 2022-07-29 | 杭州未名信科科技有限公司 | Tower crane equipment control method and device, tower crane equipment and medium |
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| CN116730194B (en) * | 2023-05-16 | 2023-12-22 | 广东光速智能设备有限公司 | Intelligent control system and method for tower crane provided with safety area |
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