CN111186771A - Remote tower crane intelligent control system - Google Patents
Remote tower crane intelligent control system Download PDFInfo
- Publication number
- CN111186771A CN111186771A CN202010122679.7A CN202010122679A CN111186771A CN 111186771 A CN111186771 A CN 111186771A CN 202010122679 A CN202010122679 A CN 202010122679A CN 111186771 A CN111186771 A CN 111186771A
- Authority
- CN
- China
- Prior art keywords
- tower crane
- remote control
- control terminal
- terminal equipment
- wireless
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
Images
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
- Selective Calling Equipment (AREA)
Abstract
The invention discloses an intelligent control system of a remote tower crane, which comprises wireless remote control terminal equipment, a camera, central control equipment and wireless communication equipment, wherein the central control equipment comprises a PLC (programmable logic controller), a position sensor and an encoder; the PLC sends the running state, the detection information and the fault information to the wireless remote control terminal equipment in real time through the wireless AP, the wireless remote control terminal equipment gives an alarm when in fault and displays the fault information on the wireless remote control terminal equipment, and the camera sends the working environment to the wireless remote control terminal equipment in real time through the wireless AP and displays the working environment. The invention has the characteristics of real-time control, convenient operation, reduced danger, low working strength and high safety, and can be widely applied to tower hoisting equipment.
Description
Technical Field
The invention relates to tower crane equipment, in particular to an intelligent control system for a remote tower crane.
Background
The gap between the development of Chinese towering machine and advanced national level is greatly reduced after more than fifty years, and the Chinese towering machine becomes a big country for production and use. Climbing tower machine belongs to high altitude construction, endangers tower machine driver's personal safety, and climbing tower machine consumes labour consuming time, has seriously reduced the work efficiency of tower machine. Some tower machines have been equipped with the remote control, carry out remote control to the tower machine through the remote control, but be difficult to in time know the operating condition of tower machine, fault information etc. has brought very big inconvenience for operating personnel, and the operation of tower machine also has serious potential safety hazard simultaneously.
The prior art has the following defects: (1) the operation conditions of various devices on the tower crane are difficult to master when the existing remote control system of the tower crane is operated. (2) In a complex operating environment, an operator can hardly observe the running condition of the tower crane in real time by naked eyes. (3) The degree of automation of the tower crane is low, the requirement of tower crane operation is difficult to meet, more manual judgments are needed, and the risk of manual operation is improved.
Disclosure of Invention
The invention aims to overcome the defects of the background technology and provides an intelligent control system of a remote tower crane, which has the characteristics of real-time control, convenience and quickness in operation, reduced danger, low working strength and high safety.
The invention provides a remote tower crane intelligent control system, which comprises a wireless remote control terminal device, a camera, a central control device and a wireless communication device, wherein the central control device and the wireless communication device are arranged on a tower crane, the central control device comprises a Programmable Logic Controller (PLC), a position sensor and an encoder, the position sensor and the encoder are respectively connected with a signal input end of the PLC, a signal output end of the PLC is connected with a signal input end of each operating mechanism on the tower crane, the wireless communication device comprises an Access Point (wireless Access node) for connecting the wireless remote control terminal device with the PLC in a communication manner, and the camera is connected with the wireless remote control terminal device through the wireless communication device; the PLC sends the running state of the tower crane, the detection information of the position sensor and the fault information of the tower crane component to the wireless remote control terminal equipment in real time through the wireless AP, the running condition of the tower crane is checked through the wireless remote control terminal equipment in real time, when a fault occurs, the wireless remote control terminal equipment can send an alarm, and the fault information is displayed on the wireless remote control terminal equipment for monitoring and safe running of the running component on the tower crane.
In the technical scheme, the PLC comprises an automatic operation module, the automatic operation module calculates the position of each mechanism by acquiring the information of position sensors on a hoisting mechanism motor, a slewing mechanism motor and a luffing mechanism motor of the tower crane, and after the position of each mechanism is recorded, the automatic operation module can automatically operate to the recorded position from the original position of each mechanism and is used for automatic operation of the tower crane.
In the technical scheme, the PLC further comprises an automatic following module, and the automatic following module is used for enabling each mechanism of the tower crane to run to the position near an operator in real time when an operator of the tower crane holds the wireless remote control terminal device, so that the intelligent running of the tower crane is realized.
In the technical scheme, the camera sends the working environment to the wireless remote control terminal equipment in real time through the wireless AP and displays the working environment. In the technical scheme, the PLC further comprises a tower crane safety protection module, and the tower crane safety protection module implements protection measures in three aspects of limiting soft protection, weight moment protection and brake failure protection for protecting the normal operation of the tower crane after mechanical protection of the tower crane is failed, and simultaneously timely sends fault information to the wireless remote control terminal and gives an alarm prompt.
In the above technical solution, the wireless remote control terminal device includes a remote control and a tablet with a GNSS (global navigation Satellite System) function.
In the above technical solution, the Wireless remote control terminal device obtains the position of the Wireless remote control terminal device through a GNSS function, and sends GNSS position information to the PLC through a tablet WiFi (Wireless-Fidelity, a technology that can wirelessly connect terminals such as a personal computer and a handheld device (e.g., a PDA and a mobile phone) to each other), and the PLC controls each motion mechanism of the tower crane to operate to the GNSS position after reading the position by an encoder of each motion mechanism of the tower crane.
In the above technical solution, the encoder is an incremental encoder.
The invention provides an intelligent control system of a remote tower crane, which has the following beneficial effects: according to the remote intelligent control system for the tower crane, the equipment information, the fault diagnosis information and the operation environment of the tower crane are sent to the wireless remote control terminal equipment in real time through the PLC, the position sensor, the encoder, the camera, the automatic operation module, the automatic following module and the tower crane video monitoring module, an operator can check the wireless remote control terminal equipment in time to know related information, and the lifting hook can be operated to the position near the operator in real time through the tower crane intelligent positioning system, so that intelligent operation is realized. The method has the following specific advantages: (1) the running state of the tower crane can be known in real time through the intelligent control system of the tower crane, a safer running environment is provided for the tower crane, and accidents caused by faults are reduced; (2) the intelligent and unmanned tower crane control system has the advantages that the intelligent and unmanned tower crane control system can realize the intelligentization and unmanned tower crane control, operators are far away from the danger of high-altitude operation, the working intensity of the operators can be reduced, and the control safety of the tower crane is improved.
Drawings
FIG. 1 is a schematic structural diagram of an intelligent control system of a remote tower crane according to the invention;
fig. 2 is a schematic view of the operation flow of the automatic following module in the remote tower crane intelligent control system of the invention.
Detailed Description
The invention is described in further detail below with reference to the following figures and examples, which should not be construed as limiting the invention.
Referring to fig. 1, the remote tower crane intelligent control system comprises a wireless remote control terminal device, a camera, a central control device and a wireless communication device, wherein the central control device and the wireless communication device are arranged on a tower crane, the central control device comprises a Programmable Logic Controller (PLC), a position sensor and an encoder which are respectively connected with a signal input end of the PLC, a signal output end of the PLC is connected with a signal input end of each running mechanism on the tower crane, the wireless communication device comprises a wireless Access Point (AP) for connecting the wireless remote control terminal device with the PLC in a communication manner, and the camera is connected with the wireless remote control terminal device through the wireless communication device;
the PLC sends the running state of the tower crane, the detection information of the position sensor and the fault information of the tower crane component to the wireless remote control terminal equipment in real time through the wireless AP, the running condition of the tower crane is checked through the wireless remote control terminal equipment in real time, when a fault occurs, the wireless remote control terminal equipment can send an alarm, and the fault information is displayed on the wireless remote control terminal equipment for monitoring and safe running of the running component on the tower crane.
The PLC comprises an automatic operation module, the automatic operation module calculates the position of each mechanism by acquiring position sensor information on a hoisting mechanism motor, a swing mechanism motor and a luffing mechanism motor of the tower crane, after the position of each mechanism is recorded, the automatic operation module can automatically operate to the recording position from the original position of each mechanism through an intelligent fixed-distance operation algorithm, namely, the difference between the initial position and the end position of each mechanism of the tower crane is the total stroke of the automatic operation of each mechanism of the tower crane, the operation speed of each mechanism of the tower crane is controlled by controlling the motor drive (frequency converter) in real time according to the distance from the operation position to the end position of the mechanism of the tower crane, and then each mechanism is controlled to reach the recording position for the automatic operation of the.
The PLC also comprises an automatic following module, wherein the automatic following module is used for positioning the position (including height, longitude and latitude) of a person and the tower center of the tower crane and the distance (calculated by the longitude and latitude) of the person and the tower center, namely the target position of a luffing mechanism of the tower crane, by starting an intelligent following positioning algorithm of the tower crane through a positioning device when a tower crane operator holds a wireless remote control terminal device; the height of the person, i.e. the target height of the hoisting mechanism, is set to be 5m above the height of the person for safety; the turret machine rotation angle (i.e., the angle measured by the motor encoder) is correlated to a latitude longitude (e.g., south earth), and the angle of the person to the center of the turret machine and the south pole is set as the target angle for the rotation angle. The initial position is the position before the operation of the tower crane, and each mechanism of the tower crane is operated to be close to an operator in real time through an intelligent distance-fixing algorithm for the intelligent operation of the tower crane.
And the camera sends the working environment to the wireless remote control terminal equipment in real time through the wireless AP and displays the working environment. The PLC also comprises a tower crane safety protection module, wherein the tower crane safety protection module implements protection measures in three aspects of limiting soft protection, weight moment protection and brake failure protection for protecting the normal operation of the tower crane after the mechanical protection of the tower crane is failed, and simultaneously timely sends fault information to the wireless remote control terminal and gives an alarm prompt.
The wireless remote control terminal equipment comprises a remote control and a panel with a GNSS function. The wireless remote control terminal equipment acquires the position of the wireless remote control terminal equipment through the GNSS function, sends GNSS position information to the PLC through the WiFi function of the tablet, and controls each motion mechanism of the tower crane to run to the GNSS position after the PLC reads the position through the incremental encoder of each motion mechanism of the tower crane.
The hardware of the remote intelligent control system of the tower crane mainly comprises two parts, namely an onboard part of the tower crane and wireless remote control terminal equipment of an operator. The on-board equipment of the tower crane comprises the original mechanisms of the tower crane, central control equipment, wireless remote control terminal equipment, cameras for observing the mechanisms of the tower crane and an AP with a WiFi function, and the AP covers the operation range of the tower crane by wireless signals. The wireless remote control terminal device held by the operator has a GNSS (global navigation satellite system) positioning function, a remote control function, and a wireless transmission function, and an information display function, as shown in fig. 1.
The wireless remote control terminal equipment is handed to tower machine operator, can be with each mechanism automatic adjustment of tower machine to operator current position through starting automatic function of following, and great limit reduces operator's work load, and whole process manpower consumption is little, need not climb tower machine high altitude construction, and factor of safety is high. The operation process of the remote tower crane intelligent control system is as follows:
step 1) establishing connection between handheld wireless remote control terminal equipment and central control equipment of the tower crane, remotely connecting a remote control receiver on the tower crane by the handheld wireless remote control terminal equipment to directly access a PLC (programmable logic controller) for participating in control, and connecting the handheld terminal panel equipment with the PLC and a camera on the tower crane through a wireless AP (access point). Establishing connection of on-board equipment of the tower crane through data exchange;
and the fault information of the tower crane and the operation data of the tower crane are read and displayed on the touch screen through data exchange between the flat plate and the PLC. During operation, the running states of all mechanisms of the tower crane can be checked in real time through the camera connected with the tower crane through the flat plate, and the running risk brought by a visual blind area in the running process of the tower crane is reduced.
And 2) reading the value of the encoder through the PLC to obtain and record the position of each mechanism, and operating any position of the lifting hook of the tower crane to a recorded position to complete a fixed-point function.
And 3) obtaining the position of the handheld terminal through the GNSS equipment, sending GNSS position information to the PLC through the WiFi function of the tablet, and operating each mechanism of the tower crane to the GNSS position by the PLC after reading the position through the incremental encoders of each mechanism, as shown in figure 2.
The on-board equipment sends the camera video and the operation information of each mechanism of the tower crane to the wireless remote control terminal equipment in real time through the wireless AP, and the wireless remote control terminal equipment prompts faults or alarm information through sound to ensure the safe operation of the tower crane equipment. Meanwhile, the running environment of the equipment can be observed in real time through the camera, and the equipment can be monitored in real time through the camera at a place where people cannot see so as to ensure the safe running of the tower crane, reduce the workload of operating personnel for operating the equipment to a large extent and bring great convenience to the operation.
In this embodiment, each subsystem realizes the unmanned tower crane and the intellectualization of tower crane equipment by the mutual combination of the onboard equipment and the onboard equipment. The unmanned safe operation of the tower crane is ensured through the tower crane safety protection module, the automatic operation module, the automatic following module and the video monitoring module.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Those not described in detail in this specification are within the skill of the art.
Claims (8)
1. The utility model provides a long-range tower machine intelligence control system, includes wireless remote control terminal equipment, camera and locates central control equipment and the wireless communication equipment on the tower machine, its characterized in that: the central control equipment comprises a PLC, a position sensor and an encoder which are respectively connected with a signal input end of the PLC, a signal output end of the PLC is connected with a signal input end of each running mechanism on the tower crane, the wireless communication equipment comprises a wireless AP for connecting the wireless remote control terminal equipment with the PLC in a communication way, and the camera is connected with the wireless remote control terminal equipment through the wireless communication equipment;
the PLC sends the running state of the tower crane, the detection information of the position sensor and the fault information of the tower crane component to the wireless remote control terminal equipment in real time through the wireless AP, the running condition of the tower crane is checked through the wireless remote control terminal equipment in real time, when a fault occurs, the wireless remote control terminal equipment can send an alarm, and the fault information is displayed on the wireless remote control terminal equipment for monitoring and safe running of the running component on the tower crane.
2. The intelligent control system of the remote tower crane according to claim 1, characterized in that: the PLC comprises an automatic operation module, the automatic operation module calculates the position of each mechanism by acquiring the information of position sensors on a hoisting mechanism motor, a slewing mechanism motor and a luffing mechanism motor of the tower crane, and automatically operates to the recorded position from the original position of each mechanism after recording the position of each mechanism, so that the automatic operation module is used for automatically operating the tower crane.
3. The intelligent control system of the remote tower crane according to claim 2, characterized in that: the PLC also comprises an automatic following module, wherein the automatic following module is used for operating each mechanism of the tower crane to the position of an operator in real time according to the position of the operator when the operator of the tower crane holds the wireless remote control terminal equipment, and the automatic following module is used for intelligently operating the tower crane.
4. The intelligent control system of the remote tower crane according to claim 3, characterized in that: and the camera sends the working environment to the wireless remote control terminal equipment in real time through the wireless AP and displays the working environment.
5. The intelligent control system for the remote tower crane according to claim 4, characterized in that: the PLC also comprises a tower crane safety protection module, wherein the tower crane safety protection module implements protection measures in three aspects of limiting soft protection, weight moment protection and brake failure protection for protecting the normal operation of the tower crane after the mechanical protection of the tower crane is failed, and simultaneously timely sends fault information to the wireless remote control terminal and gives an alarm prompt.
6. The intelligent control system of the remote tower crane according to claim 5, characterized in that: the wireless remote control terminal equipment comprises a remote control and a panel with a GNSS function.
7. The intelligent control system for the remote tower crane according to claim 6, characterized in that: the wireless remote control terminal equipment obtains the position of the wireless remote control terminal equipment through the GNSS function, sends GNSS position information to the PLC through the WiFi function of the tablet, and controls each motion mechanism of the tower crane to run to the GNSS position after the PLC reads the position through the encoder of each motion mechanism of the tower crane.
8. The intelligent control system of the remote tower crane according to claim 7, characterized in that: the encoder is an incremental encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010122679.7A CN111186771A (en) | 2020-02-27 | 2020-02-27 | Remote tower crane intelligent control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010122679.7A CN111186771A (en) | 2020-02-27 | 2020-02-27 | Remote tower crane intelligent control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111186771A true CN111186771A (en) | 2020-05-22 |
Family
ID=70704759
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010122679.7A Pending CN111186771A (en) | 2020-02-27 | 2020-02-27 | Remote tower crane intelligent control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111186771A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112299252A (en) * | 2020-09-25 | 2021-02-02 | 山东中建众力设备租赁有限公司 | Unmanned tower crane monitoring system and monitoring method |
| CN112346100A (en) * | 2020-09-25 | 2021-02-09 | 山东中建众力设备租赁有限公司 | Positioning system and positioning method for unmanned tower crane |
| CN112429646A (en) * | 2020-08-11 | 2021-03-02 | 西安万硕电子科技有限公司 | Automatic operation guide system of tower crane |
| CN113401801A (en) * | 2021-05-13 | 2021-09-17 | 中联重科股份有限公司 | System and method for remotely controlling a crane |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102786002A (en) * | 2012-07-18 | 2012-11-21 | 三一重工股份有限公司 | Tower crane intelligent control system and tower crane |
| CN105143088A (en) * | 2013-04-11 | 2015-12-09 | 利勃海尔比伯拉赫零部件有限公司 | Remote-controlled crane |
| CN206407828U (en) * | 2016-12-29 | 2017-08-15 | 深圳大学 | A kind of unmanned tower crane control system based on wireless communication networks |
| CN108892038A (en) * | 2018-06-07 | 2018-11-27 | 河南华电工控技术有限公司 | A kind of hoisting machinery long distance wireless security monitoring management system |
| CN109264585A (en) * | 2018-10-31 | 2019-01-25 | 郑州桔槔智能科技有限公司 | Tower crane Unmanned Systems |
-
2020
- 2020-02-27 CN CN202010122679.7A patent/CN111186771A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102786002A (en) * | 2012-07-18 | 2012-11-21 | 三一重工股份有限公司 | Tower crane intelligent control system and tower crane |
| CN105143088A (en) * | 2013-04-11 | 2015-12-09 | 利勃海尔比伯拉赫零部件有限公司 | Remote-controlled crane |
| CN206407828U (en) * | 2016-12-29 | 2017-08-15 | 深圳大学 | A kind of unmanned tower crane control system based on wireless communication networks |
| CN108892038A (en) * | 2018-06-07 | 2018-11-27 | 河南华电工控技术有限公司 | A kind of hoisting machinery long distance wireless security monitoring management system |
| CN109264585A (en) * | 2018-10-31 | 2019-01-25 | 郑州桔槔智能科技有限公司 | Tower crane Unmanned Systems |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112429646A (en) * | 2020-08-11 | 2021-03-02 | 西安万硕电子科技有限公司 | Automatic operation guide system of tower crane |
| CN112299252A (en) * | 2020-09-25 | 2021-02-02 | 山东中建众力设备租赁有限公司 | Unmanned tower crane monitoring system and monitoring method |
| CN112346100A (en) * | 2020-09-25 | 2021-02-09 | 山东中建众力设备租赁有限公司 | Positioning system and positioning method for unmanned tower crane |
| CN113401801A (en) * | 2021-05-13 | 2021-09-17 | 中联重科股份有限公司 | System and method for remotely controlling a crane |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111186771A (en) | Remote tower crane intelligent control system | |
| CN207163500U (en) | A kind of tall and big support shuttering safety monitoring system | |
| CN201873469U (en) | Safety control device for tower crane | |
| CN103863958A (en) | Complicated cluster walking type tower crane collision avoidance system and monitoring method | |
| CN201217613Y (en) | Security monitoring management system for tower crane | |
| WO2021093347A1 (en) | Hoisting method, hoisting control system, and construction machinery | |
| CN202808226U (en) | Intelligent safety monitoring system of tower crane | |
| CN203781703U (en) | Complex cluster walking type tower crane anti-collision system | |
| CN203199897U (en) | Tower crane operation monitoring device | |
| CN202353713U (en) | Tower crane video monitoring system | |
| CN104340895A (en) | Monitoring system and monitoring method for safety of tower crane | |
| CN214087383U (en) | Building tower crane safety monitoring system | |
| CN105366574A (en) | Safety control device for tower cranes | |
| CN211393664U (en) | Intelligent monitoring system for safe operation of tower crane | |
| CN111824963A (en) | Intelligent tower crane wireless remote control system with pose perception technology and control method | |
| CN112777497A (en) | Intelligent control system of tower crane | |
| CN205151565U (en) | Tower crane intelligence control system | |
| CN203922535U (en) | The scheduling of tower machine operation and safety aid | |
| CN205634668U (en) | Virtual command system of large -scale hoist and mount operation | |
| CN113885419A (en) | Tower crane safety monitoring system | |
| CN113135515A (en) | Tower crane safety monitoring system and method | |
| CN113071988A (en) | Tower crane equipment visual simulation system based on BIM technology | |
| CN211444763U (en) | Intelligent alignment navigation system for tower crane installation | |
| CN216141157U (en) | Intelligent monitoring system for crane safety state monitoring and remote management | |
| CN211056546U (en) | Tower crane control system and tower crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200522 |
|
| RJ01 | Rejection of invention patent application after publication |