CN109264585A - Tower crane Unmanned Systems - Google Patents
Tower crane Unmanned Systems Download PDFInfo
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- CN109264585A CN109264585A CN201811301026.4A CN201811301026A CN109264585A CN 109264585 A CN109264585 A CN 109264585A CN 201811301026 A CN201811301026 A CN 201811301026A CN 109264585 A CN109264585 A CN 109264585A
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- tower crane
- handheld device
- dimensional
- running path
- unmanned systems
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- 238000013461 design Methods 0.000 abstract description 3
- 230000008901 benefit Effects 0.000 abstract description 2
- 239000000284 extract Substances 0.000 abstract 1
- 239000000463 material Substances 0.000 description 11
- 238000010276 construction Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
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Classifications
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/03—Cranes with arms or jibs; Multiple cranes
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The present invention provides a kind of tower crane Unmanned Systems, including tower crane ontology, the first GPS unit, wireless communication unit and the first barometer are provided in handheld device；The binocular camera being arranged on tower crane trolley is provided with the second GPS unit and the second barometer；Image procossing host is arranged on tower crane trolley, carries out three-dimensional reduction according to building site binocular image and generates three-dimensional point cloud；3 d modeling system extracts modeling lines according to three-dimensional point cloud, and constructs the three-dimensional live map in building yard；System controller sends the three-dimensional live map of real-time update to handheld device, and the location information and control solicited message sent according to handheld device plans tower crane running path on three-dimensional live map, after the tower crane running path information of planning is sent to handheld device confirmation, master control industrial personal computer controls tower crane ontology by the tower crane running path operation of planning.Tower crane Unmanned Systems have the advantages that design science, practical, structure is simple, easy to use.
Description
Technical field
The present invention relates to building fields, specifically, relate to a kind of tower crane Unmanned Systems.
Background technique
Tower crane is most common a kind of lifting equipment on construction site, also known as " derrick crane ", with a section mark
Quasi- section is formed by overlapping, for hanging the raw material of the constructions such as working reinforcing bar, wooden flute, concrete, steel pipe.Tower crane is must on building site
The operation of indispensable lifting equipment, existing tower crane cooperates with control by the driver for being sitting in tower crane cab together with ground signal person
System, due to the uncertainty of construction site construction time, often there is fatigue driving in tower crane driver, and then safe thing often occurs
Therefore the delay in addition communicated between signalman and tower crane driver, in the case where there is visual dead angle or unexpected situation, when have accident hair
It is raw.Additionally, due to needing two people operation, higher cost and also bigger to the occupancy of labo r resources.
In order to solve the above problems, people are seeking always a kind of ideal technical solution.
Summary of the invention
The purpose of the present invention is in view of the deficiencies of the prior art, to provide, a kind of design science, practical, structure is simple
Single, tower crane Unmanned Systems easy to use.
To achieve the goals above, the technical scheme adopted by the invention is that: a kind of tower crane Unmanned Systems, including tower
Ontology is hung, further includes handheld device, wireless communication connection system controller is configured to, is provided with first in the handheld device
GPS unit, wireless communication unit and the first barometer；Binocular camera is arranged on tower crane trolley, setting in the binocular camera
There are the second GPS unit and the second barometer, the binocular camera, which is configured to obtain, is associated with objective world co-ordinate system location information
Building site binocular image；Image procossing host is arranged on tower crane trolley, is configured to communicate to connect the binocular camera and receive
The building site binocular image carries out three-dimensional reduction according to the building site binocular image and generates three-dimensional point cloud；3 d modeling system,
It is configured to extract modeling lines according to the three-dimensional point cloud, and with constructing the three-dimensional live in building yard according to modeling lines
Figure；It is real to be configured to the three-dimensional for receiving the three-dimensional live map and sending real-time update to the handheld device for system controller
Scape map, and the location information and control solicited message that are sent according to the handheld device plan tower crane on three-dimensional live map
The tower crane running path information of planning is sent to handheld device and confirmed by running path；Master control industrial personal computer, is configured to basis
The tower crane running path information control tower crane ontology of confirmation is run by the tower crane running path of planning.
Based on above-mentioned, third GPS unit, third barometer and the second wireless communication unit, institute are provided on crane hook
It states system controller and the third GPS unit and the barometrical letter of the third is received by second wireless communication unit
Breath.
Based on above-mentioned, inertial navigation module is additionally provided in the binocular camera.
Based on above-mentioned, the handheld device has multiple, and connection is wirelessly communicated between multiple handheld devices.
The present invention has substantive distinguishing features outstanding and significant progress compared with the prior art, and specifically, the present invention is logical
It crosses binocular camera, image procossing host and 3 d modeling system to cooperate, establishes the three-dimensional live map in building site, system control
The location information that device is sent according to handheld device plans tower crane running path on three-dimensional live map, effectively personnel is avoided to occupy
While also effective avoiding barrier, influence of the human error to safety is avoided, with design science, practical, structure
Simply, advantage easy to use.
Detailed description of the invention
Fig. 1 is structural schematic block diagram of the invention.
Specific embodiment
Below by specific embodiment, technical scheme of the present invention will be described in further detail.
As shown in Figure 1, a kind of tower crane Unmanned Systems, including tower crane ontology, further include handheld device, is configured to wireless
Communication connecting system controller is provided with the first GPS unit, wireless communication unit and the first barometer in the handheld device；
Binocular camera is arranged on tower crane trolley, and the second GPS unit and the second barometer are provided in the binocular camera, described double
Mesh camera configuration is to obtain the building site binocular image for being associated with objective world co-ordinate system location information；Image procossing host, setting
On tower crane trolley, it is configured to communicate to connect the binocular camera and receives the building site binocular image, it is double according to the building site
Mesh image carries out three-dimensional reduction and generates three-dimensional point cloud；3 d modeling system is configured to extract modeling according to the three-dimensional point cloud
Lines, and the three-dimensional live map in building yard is constructed according to modeling lines；System controller is configured to described hand-held
Equipment sends the three-dimensional live map of real-time update, and according to the location information of handheld device transmission and control solicited message
Tower crane running path is planned on three-dimensional live map, and the tower crane running path information of planning is sent to handheld device and is carried out really
Recognize；Master control industrial personal computer is configured to the tower crane operating road that tower crane ontology is controlled according to the tower crane running path information of confirmation by planning
Diameter operation.
Due to the propulsion of construction speed, the solid space of construction site is all changing daily.It is described after tower crane starting up
Master control industrial personal computer turns according to preset route control tower handling, the operating including boom motor, vehicle motor and suspension hook motor, band
It moves the binocular camera and is found a view comprehensively building site, to establish the three-dimensional live map in building site.In other embodiments, may be used also
To be found a view using millimeter wave.Worker is included in hand-held set in use, by handheld device transmission location information
Choose material on standby three-dimensional live map and start shipment position and material destination locations, system controller according to the location information and
The current location information of tower crane boom plans tower crane running path, such as boom current location to material on three-dimensional live map
The planning path of position is started shipment, after confirming on a handheld device, master control industrial personal computer controls tower crane and operates by planning path, and is transporting
By binocular camera real-time update three-dimensional live map and path is modified during turning, in practice to path modification when and also
It need to confirm by handheld device；After material starts shipment position and charges, position and material destination locations are started shipment further according to material
Planning path, process are same as above.The handheld device has multiple in practice, and connection is wirelessly communicated between multiple handheld devices,
Different workers carry handheld device respectively, and since handheld device itself includes positioning mechanism, worker passes through handheld device
Sending control request can carry out by tower crane current location to the route planning handheld device current location, and such as charge worker
After sending control request, the path that system controller plans tower crane current location between the worker current location that charges, and confirming
Material is run to by master control industrial personal computer control tower crane boom behind path and starts shipment position, the discharging after charging at material destination locations
Worker sends control request by handheld device, and system controller planning material starts shipment the road between position and material destination locations
Diameter, and tower crane boom is controlled by master control industrial personal computer after confirming path and runs to material destination locations.
Preferably, third GPS unit, third barometer and the second wireless communication unit are provided on crane hook, it is described
System controller receives the third GPS unit and the barometrical information of the third by second wireless communication unit.
For tower crane during real-world operation, system controller judges the availability in path according to the actual position information of suspension hook.
In practice, it is additionally provided with inertial navigation module in the binocular camera, by the second GPS unit, the second barometer and be used to
Guide module carries out difference and data fusion to obtain high-precision location information.
Finally it should be noted that: the above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, it should be understood by those ordinary skilled in the art that: still
It can modify to a specific embodiment of the invention or some technical features can be equivalently replaced；Without departing from this hair
The spirit of bright technical solution should all cover within the scope of the technical scheme claimed by the invention.
Claims (4)
1. a kind of tower crane Unmanned Systems, it is characterised in that: including
Handheld device is configured to wireless communication connection system controller, is provided with the first GPS unit, nothing in the handheld device
Line communication unit and the first barometer；
Binocular camera is arranged on tower crane trolley, the second GPS unit and the second barometer, institute is provided in the binocular camera
Binocular camera is stated to be configured to obtain the building site binocular image for being associated with objective world co-ordinate system location information；
Image procossing host is arranged on tower crane trolley, is configured to communicate to connect the binocular camera and receives the building site pair
Mesh image carries out three-dimensional reduction according to the building site binocular image and generates three-dimensional point cloud；
3 d modeling system is configured to extract modeling lines according to the three-dimensional point cloud, and constructs building according to modeling lines
Three-dimensional live map in place；
It is real to be configured to the three-dimensional for receiving the three-dimensional live map and sending real-time update to the handheld device for system controller
Scape map, and the location information and control solicited message that are sent according to the handheld device plan tower crane on three-dimensional live map
The tower crane running path information of planning is sent to handheld device and confirmed by running path；
Master control industrial personal computer is configured to the tower crane operating road that tower crane ontology is controlled according to the tower crane running path information of confirmation by planning
Diameter operation.
2. tower crane Unmanned Systems according to claim 1, it is characterised in that: be provided with the 3rd GPS on crane hook
Unit, third barometer and the second wireless communication unit, the system controller are received by second wireless communication unit
The third GPS unit and the barometrical information of the third.
3. tower crane Unmanned Systems according to claim 1, it is characterised in that: be additionally provided in the binocular camera used
Guide module.
4. tower crane Unmanned Systems according to claim 1, it is characterised in that: the handheld device have it is multiple, it is multiple
Connection is wirelessly communicated between the handheld device.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018112877296 | 2018-10-31 | ||
| CN201811287729 | 2018-10-31 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109264585A true CN109264585A (en) | 2019-01-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811301026.4A Pending CN109264585A (en) | 2018-10-31 | 2018-11-02 | Tower crane Unmanned Systems |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110642148A (en) * | 2019-10-23 | 2020-01-03 | 江苏星齐软件科技有限公司 | Control system and control method of unmanned tower crane |
| CN111186771A (en) * | 2020-02-27 | 2020-05-22 | 武汉港迪电气有限公司 | Remote tower crane intelligent control system |
| CN111377361A (en) * | 2020-04-16 | 2020-07-07 | 程霖锋 | Tower crane hook anti-hanging protection system and control method |
| CN113102269A (en) * | 2021-04-07 | 2021-07-13 | 沈阳建筑大学 | Prefabricated part finished product quality detection system based on three-dimensional stereoscopic vision and application thereof |
| CN113734981A (en) * | 2021-07-20 | 2021-12-03 | 杭州大杰智能传动科技有限公司 | Intelligent tower crane material transportation path setting method and device |
| CN116578104A (en) * | 2023-07-14 | 2023-08-11 | 山东中建众力设备租赁有限公司 | Unmanned tower crane control method based on deep learning |
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| EP0091030A2 (en) * | 1982-04-06 | 1983-10-12 | Siemens Aktiengesellschaft | Speed control for a remotely controlled transporting device |
| CN102583181A (en) * | 2012-03-02 | 2012-07-18 | 中联重科股份有限公司 | Tower crane monitoring and early warning method and system, and tower crane |
| CN103693561A (en) * | 2013-12-26 | 2014-04-02 | 刘鸿 | Intelligent safety remote control operating system of hoisting equipment, and working method of operating system |
| WO2015024407A1 (en) * | 2013-08-19 | 2015-02-26 | 国家电网公司 | Power robot based binocular vision navigation system and method based on |
| CN105823478A (en) * | 2016-03-14 | 2016-08-03 | 武汉卓拔科技有限公司 | Autonomous obstacle avoidance navigation information sharing and using method |
| CN209635755U (en) * | 2018-10-31 | 2019-11-15 | 郑州桔槔智能科技有限公司 | Tower crane Unmanned Systems |
-
2018
- 2018-11-02 CN CN201811301026.4A patent/CN109264585A/en active Pending
Patent Citations (6)
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| EP0091030A2 (en) * | 1982-04-06 | 1983-10-12 | Siemens Aktiengesellschaft | Speed control for a remotely controlled transporting device |
| CN102583181A (en) * | 2012-03-02 | 2012-07-18 | 中联重科股份有限公司 | Tower crane monitoring and early warning method and system, and tower crane |
| WO2015024407A1 (en) * | 2013-08-19 | 2015-02-26 | 国家电网公司 | Power robot based binocular vision navigation system and method based on |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110642148A (en) * | 2019-10-23 | 2020-01-03 | 江苏星齐软件科技有限公司 | Control system and control method of unmanned tower crane |
| CN110642148B (en) * | 2019-10-23 | 2020-10-30 | 江苏星齐软件科技有限公司 | Control system and control method of unmanned tower crane |
| CN111186771A (en) * | 2020-02-27 | 2020-05-22 | 武汉港迪电气有限公司 | Remote tower crane intelligent control system |
| CN111377361A (en) * | 2020-04-16 | 2020-07-07 | 程霖锋 | Tower crane hook anti-hanging protection system and control method |
| CN113102269A (en) * | 2021-04-07 | 2021-07-13 | 沈阳建筑大学 | Prefabricated part finished product quality detection system based on three-dimensional stereoscopic vision and application thereof |
| CN113102269B (en) * | 2021-04-07 | 2022-08-19 | 沈阳建筑大学 | Prefabricated part finished product quality detection system based on three-dimensional stereoscopic vision and application thereof |
| CN113734981A (en) * | 2021-07-20 | 2021-12-03 | 杭州大杰智能传动科技有限公司 | Intelligent tower crane material transportation path setting method and device |
| CN113734981B (en) * | 2021-07-20 | 2023-06-02 | 杭州大杰智能传动科技有限公司 | Method and device for setting material transportation path of intelligent tower crane |
| CN116578104A (en) * | 2023-07-14 | 2023-08-11 | 山东中建众力设备租赁有限公司 | Unmanned tower crane control method based on deep learning |
| CN116578104B (en) * | 2023-07-14 | 2023-09-19 | 山东中建众力设备租赁有限公司 | Unmanned tower crane control method based on deep learning |
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