CN111498697A - Mobile hoisting control method, device and system and hoisting machine - Google Patents
Mobile hoisting control method, device and system and hoisting machine Download PDFInfo
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- CN111498697A CN111498697A CN202010271010.4A CN202010271010A CN111498697A CN 111498697 A CN111498697 A CN 111498697A CN 202010271010 A CN202010271010 A CN 202010271010A CN 111498697 A CN111498697 A CN 111498697A
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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
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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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
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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
- B66C13/46—Position indicators for suspended loads or for crane elements
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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
- B66C15/00—Safety gear
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Abstract
The embodiment of the invention provides a mobile hoisting control method, which comprises the following steps: taking the position of the first control terminal as a starting point, and generating a hoisting path between the position of the first control terminal and the position of the second control terminal; in the process of executing the hoisting path, distributing the control authority of the lifting hook based on the positions of the lifting hook relative to the first control terminal and the second control terminal and the control authority application of the first control terminal and the second control terminal until the hoisting path is executed. Meanwhile, the mobile hoisting control device, the mobile hoisting control system, the control terminal and the hoisting machine are also disclosed. The implementation mode of the invention solves the problem of control authority distribution among a plurality of control terminals, and simultaneously adopts a flexible control mode aiming at the field complex working condition of the operation machine, and can be switched to the control mode at any time, thereby ensuring the safety and efficiency of the operation machine control.
Description
Technical Field
The invention relates to the field of automatic control of machinery, in particular to a mobile hoisting control method, a mobile hoisting control device, a mobile hoisting control system, a control terminal and hoisting machinery.
Background
With the development of science and technology and economy, the scale of construction engineering is continuously increased, and the requirements of large-scale engineering machinery with higher height and longer arm length are more and more increased. Because the construction range of large-scale engineering machinery is large, for example, the hoisting range is from tens of meters to hundreds of meters, when a manipulator carries out construction operation in a cab, the manipulator is limited by the sight distance and the visual angle, cannot carry out fine construction, and needs personnel assistance. Meanwhile, the potential safety hazard in the construction process of large engineering machinery is inevitable due to the limitation of conditions such as construction places and the like.
The remote controller aiming at the operation machine in the current market can indirectly control the operation machine to operate, so that a driver of the operation machine does not need to operate at high altitude, and the danger of hoisting operation can be reduced to a certain extent. But it also has a problem of limitation of a single remote controller. For example, only one remote controller is used for controlling, the control cannot be respectively carried out in the hoisting and falling stages of the hoisting process, the authority control is single, and only the authority switching between the remote controller and the central station exists.
Disclosure of Invention
The invention aims to provide a mobile hoisting control method, a mobile hoisting control device and a mobile hoisting control system, and aims to solve the problem of control limitation caused by a single control terminal in the operation of the existing operation machinery.
In order to achieve the above object, in a first aspect of the present invention, there is provided a mobile lifting control method, including:
taking the position of the first control terminal as a starting point, and generating a hoisting path between the position of the first control terminal and the position of the second control terminal;
in the process of executing the hoisting path, distributing the control authority of the lifting hook based on the positions of the lifting hook relative to the first control terminal and the second control terminal and the control authority application of the first control terminal and the second control terminal until the hoisting path is executed.
Optionally, before generating the hoisting path, the method further includes:
determining that the two control terminals are in a starting state;
receiving control authority applications of the two control terminals;
and distributing the control authority of the lifting hook to a control terminal which sends the application of the control authority firstly, and marking the control terminal as the first control terminal, wherein the other control terminal is the second control terminal.
Optionally, the step of generating the hoisting path includes:
planning the hoisting path by combining a three-dimensional scene model of a hoisting field based on the relative position information of the position of the first control terminal and the lifting hook and the relative position information of the position of the second control terminal and the lifting hook, and sending the hoisting path to the first control terminal and the second control terminal.
Optionally, the allocating the control authority of the hook based on the positions of the hook relative to the first control terminal and the second control terminal and the control authority applications of the first control terminal and the second control terminal includes:
when the distance between the hook and the first control terminal is smaller than a first distance threshold, the first control terminal keeps the control authority;
when the distance between the hook and the first control terminal is larger than or equal to a first distance threshold value, the first control terminal releases the control authority;
when the second control terminal applies for the control authority and the control authority is not distributed to the first control terminal, distributing the control authority to the second control terminal;
and when the second control terminal does not apply for the control authority and the distance between the lifting hook and the second control terminal is smaller than a second distance threshold value, stopping the action of the lifting hook.
Optionally, when the position of the first control terminal and/or the position of the second control terminal is updated, the hoisting path is re-planned.
Optionally, after the hoisting path is completed, the method further includes:
the first control terminal and the second control terminal are marked again;
and generating a hoisting path from the position of the first control terminal to the position of the second control terminal.
Optionally, the method further includes: and adopting different communication links to transmit the interaction information corresponding to the information types according to the information types of the interaction information between the first control terminal and the second control terminal.
In a second aspect of the present invention, there is also provided a mobile hoisting control device, comprising:
at least one processor;
a memory coupled to the at least one processor;
the memory stores instructions capable of being executed by the at least one processor, and the at least one processor implements the mobile hoisting control method by executing the instructions stored in the memory.
In a third aspect of the present invention, there is also provided a control terminal, including: orientation module, control module, authority management module and authority pilot lamp, control terminal still includes: the height sensor comprises a height sensor, a first communication module and a second communication module.
In a fourth aspect of the present invention, there is also provided a mobile hoisting control system, including: the mobile hoisting control device comprises the mobile hoisting control device and a plurality of control terminals.
In a fourth aspect of the invention, a hoisting machine is also provided, which comprises the above-mentioned mobile hoisting control device.
The technical scheme provided by the invention can enable drivers in the starting point and ending point areas to monitor and intervene the motion state of the lifting hook in the automatic operation process of the operation machine, and the lifting efficiency cannot be reduced under the condition of ensuring the safety of automatic operation. In addition, the switching strategy of the control authority among various modes in the process of one round of hoisting of the operation machine can adopt a flexible control mode aiming at the complex working conditions of the operation machine, a driver monitors the state of the lifting hook in the automatic operation process and can switch to the control terminal control mode at any time, and the control safety and efficiency of the operation machine are ensured.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
fig. 1 is a schematic flow chart of a mobile hoisting control method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a mobile hoisting control device in an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a mobile hoisting control system according to an embodiment of the present invention;
fig. 4 is a part of a flowchart of a mobile crane control method according to an embodiment of the invention;
fig. 5 is another part of a flowchart of a mobile crane control method according to an embodiment of the present invention.
Detailed Description
In addition, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a schematic flow chart of a mobile hoisting control method according to an embodiment of the present invention. As shown in fig. 1, the present invention provides a mobile hoisting control method, which comprises:
taking the position of the first control terminal as a starting point, and generating a hoisting path between the position of the first control terminal and the position of the second control terminal;
in the process of executing the hoisting path, distributing the control authority of the lifting hook based on the positions of the lifting hook relative to the first control terminal and the second control terminal and the control authority application of the first control terminal and the second control terminal until the hoisting path is executed.
Therefore, the problems that the sight line is blocked and cannot be accurately controlled due to the fact that the operation distance is too long in the hoisting process of the conventional single control terminal can be solved. The control terminals in the invention are all portable and movable remote control devices, and the same is applied below. And the problem of control authority distribution and management of a plurality of control terminals in the hoisting process can be solved, and the control of hoisting control personnel with the best observation angle on the hoisting process is ensured, so that the safety and accuracy of hoisting control are improved. By adopting the strategies of 'nearby distribution' and 'active application', the implementation mode can ensure that not only the personal judgment of the mobile control personnel is combined, but also the distance limiting factors of the mobile control personnel in the operation process are fully considered in the process of hoisting operation.
The conditions of a plurality of control terminals in tower crane operation are not disclosed in the prior art, and the switching condition of control authority among the plurality of terminals when the plurality of control terminals exist simultaneously is also not disclosed.
Specifically, the embodiment combines an automatic path planning technique to use the position of the control terminal as an operation point of the hoisting path. Since the control terminal is a portable mobile device, the position of the control terminal can be equivalent to the actual position of the operator. The position of an operator is taken as a point position, a hoisting path is planned, the operator can keep the best observation position, and the accuracy of operation is ensured. In the implementation of the hoisting path, an 'active application' is implemented, namely, the application of the control authority of the control terminal is referred to, so that the experience judgment of an operator on a hoisting site is fully utilized, and the defect that the operator can not control the approach of danger is avoided. And performing 'nearby distribution', namely referring to the position of the lifting hook relative to the control terminal, so that the control authority of the lifting hook is distributed to the operator of the optimal observation point. Through the above strategies, the control authority is switched between the control terminal and the master control and between the control terminals, so that the hoisting process is safely and accurately completed.
In an embodiment provided by the present invention, before generating the hoisting path, the method further comprises:
determining that the two control terminals are in a starting state; receiving control authority applications of the two control terminals; and distributing the control authority of the lifting hook to a control terminal which sends the application of the control authority firstly, and marking the control terminal as the first control terminal, wherein the other control terminal is the second control terminal.
In the former embodiment, the "first" and the "second" of the control terminals only distinguish between the two control terminals, and the specific first and second may be set manually or based on other mechanisms, such as an ID number size or a preset priority. In this embodiment, a "first application" mechanism is adopted, that is, the control terminal that sends the application of the control authority first is assigned with the control authority, and is marked as the first control terminal, and the other control terminal naturally becomes the second control terminal. The mechanism can ensure that the lifting hook firstly executes the lifting process at the starting point, and more accords with the actual lifting operation flow. The method also comprises the steps of determining that the two control terminals are in a starting state, and directly obtaining the control right of the working machine by the starting control terminal to operate the working machine without planning a path under the condition that only one control terminal is started. Here, the operation of the working machine such as returning or moving the working machine by an operator during the non-lifting operation time is used. Furthermore, if the two control terminals are in the power-on state but both control terminals do not request the control authority, the hook will stay in the starting area and will not move. If a plurality of control terminals are available, only at most two control terminals are allowed to be started at the same time, and if the starting condition of more than two control terminals exists, the first control terminal which firstly obtains the control authority independently completes control or reminds other control terminals which are not planned for the hoisting in the current round to be closed.
In an embodiment provided by the present invention, the step of generating the hoisting path includes: planning the hoisting path by combining a three-dimensional scene model of a hoisting field based on the relative position information of the position of the first control terminal and the lifting hook and the relative position information of the position of the second control terminal and the lifting hook, and sending the hoisting path to the first control terminal and the second control terminal.
In the actual operation process, the first control terminal and the second control terminal are respectively carried by an operator to a starting point and a terminal point of the hoisting of the wheel, after the machine is started, the position information of the first control terminal and the second control terminal is periodically sent to the path planning system, a driver applies/releases a gear switch through the operation authority on the operation control terminal, and finally only one control terminal obtains the operation authority and reminds the driver according to the principle of first obtaining by first applying, for example: and the control authority indicator lamp is on. Because positioning technologies such as a GPS (global positioning system) have the defect of insufficient height positioning accuracy on a construction site with more obstacles and can not meet the control requirement of the operation machinery, the receiver calculates the level and height relative position information of the control terminal and the lifting hook according to the initial installation position information of the tower crane, the relative position information of the lifting hook and the tower crane, the height sensing information of the receiver (usually positioned on the tower), and the GPS positioning information and the height sensing information which are sent by the control terminal and provided with the ID (identity) of the control terminal. The motion planning system takes the position of a control terminal which firstly obtains the control authority as a starting point, the position of the other control terminal as an end point, calculates the horizontal and height relative position information of the control terminal and a lifting hook by using the position information of the two control terminals which are periodically obtained, combines a three-dimensional scene model which is established in advance (the three-dimensional scene of the construction site is imported in advance and continuously updated by an operator), plans an automatic operation path, and sends planning path information to the control terminal. As described above, if only one control terminal is powered on, the motion planning system does not perform path planning.
In an embodiment provided by the present invention, allocating the control authority of the hook based on the positions of the hook relative to the first control terminal and the second control terminal and the control authority applications of the first control terminal and the second control terminal includes: when the distance between the hook and the first control terminal is smaller than a first distance threshold, the first control terminal keeps the control authority; when the distance between the hook and the first control terminal is larger than or equal to a first distance threshold value, the first control terminal releases the control authority; when the second control terminal applies for the control authority and the control authority is not distributed to the first control terminal, distributing the control authority to the second control terminal; and when the second control terminal does not apply for the control authority and the distance between the lifting hook and the second control terminal is smaller than a second distance threshold value, stopping the action of the lifting hook.
The method and the device are used for exemplifying the distribution situation of the control authority in one-time hoisting operation, and need to be adjusted according to actual needs in actual hoisting operation. Two drivers carrying movable control terminals are respectively positioned at the starting point and the end point of the wheel hoisting, and after the hoisting path is generated, the hoisting path is started to be executed. After the starting point control terminal operator comprehensively plans the path information and controls the lifting hook to leave the starting point area according to the information observed from the self visual angle, the starting point control terminal releases the control right of the operation machine, if the starting point control terminal operates the control right of the operation machine, the control is completed in the whole process by the control right of the operation machine, and the method is suitable for the condition that the distance between the starting point and the end point is very short. If the terminal control terminal is started and does not apply for the control authority, the operation machine automatically operates according to the planned path, if the terminal control terminal is started and applies for the control authority, the terminal control terminal obtains the control authority of the operation machine to operate the operation machine, and the two control terminals can obtain the control authority to operate the operation machine after applying for and obtaining distribution at any time in the automatic operation process. When only one control terminal switch is dialed to the control authority application file, the receiver only receives the operation machine control instruction of the control terminal, when a plurality of control terminal switches are dialed to the control authority application file, the receiver receives the operation machine control instruction of the control terminal which is dialed to the control authority application file first, and the control terminal close to the lifting hook generally applies for the operation machine control instruction first and obtains the control authority; the receiver sends the control terminal ID of the current control right to the control terminal through the communication module, receives the positioning information of the control terminal, and the control terminal right indicating lamp of the control right is turned on.
The working machine has 4 control modes of first control terminal control, second control terminal control, motion planning system control (total station control) and stop. And automatically stopping running after entering the terminal area, controlling the operation machinery by the terminal control terminal if the terminal control terminal applies for the control right, and finishing the motion planning of the wheel after the lifting hook enters the terminal area. The first and second distance thresholds herein may be equal, for example: the lifting hook is characterized in that the lifting hook is manually set to have a D meter range, namely the D meter range around the lifting hook manually set by the first control terminal and the second control terminal is used as a starting area and an end area. The D meter here may be a direct distance or a horizontal distance. In the prior art, control is generally only performed at the end position of the hoisting path, and the scheme can cause that a driver at the starting position cannot manually control the working machine even if the driver has a good sight line. Therefore, the present embodiment can significantly solve this drawback.
In an embodiment provided by the present invention, when the location of the first control terminal and/or the location of the second control terminal is updated, the hoisting path is re-planned. In the prior art, most of the target point terminals send target point position information when tower crane control application keys are pressed down, the embodiment can periodically send the position information of two control terminals, and an optimal automatic operation path can be planned at any time under the condition that a terminal remote control station moves. In addition, when the starting point remote control terminal obtains the control authority, the path planning system finishes the path planning from the starting point to the terminal area and feeds back the path planning to the remote control terminal to guide a driver to better finish the hoisting task.
In an embodiment of the present invention, after the hoisting path is completed, the method further includes:
the first control terminal and the second control terminal are marked again; and generating a hoisting path from the position of the first control terminal to the position of the second control terminal. The lifting hook moves from the starting point area to the terminal area, the motion planning of the wheel is finished after the lifting hook enters the terminal area, when the control terminal of the area where the lifting hook is located obtains the control authority, the terminal control terminal driver manually controls the lifted object to accurately and stably drop the hook, the control terminal which obtains the control authority at present is used as the starting point (namely the first control terminal), the other control terminal (namely the second control terminal) is used as the terminal point to plan a new wheel lifting path, the terminal area of the previous wheel becomes the starting point area of the next wheel, and the starting point area where the starting point control terminal of the previous wheel is located or the new position where the control terminal moves becomes the terminal area of the next wheel. In the embodiment, the path planning automatically plans the next round of path after the lifting hook reaches the terminal area, the lifting hook does not need to be triggered manually to operate the path planning, and the automation degree is higher; in addition, when a new round of motion planning is ensured, the lifting hook is always positioned in the starting point area where the starting point control terminal is lifted in each round, time controlled by the control terminal is required between each two rounds of automatic operation, and a control terminal manipulator can carry out close-range control on the hook lifting process; after the lifting hook is controlled to leave the starting point area, the control authority is released, and automatic operation is started, a driver can carry the control terminal to move forward to a next round of lifting destination, and lifting efficiency is guaranteed.
In one embodiment provided by the present invention, the method further comprises: and adopting different communication links to transmit the interaction information corresponding to the information types according to the information types of the interaction information between the first control terminal and the second control terminal.
The communication between the working machine and the control terminal is realized through a receiver on the working machine, and two sets of parallel communication modules are adopted between the control terminal and the receiver, for example: the wireless communication module 1 adopts a network bridge or a 4G module to maintain bidirectional communication, a receiver sends planning path information, working condition information of the working machine and control terminal ID information of currently obtained control authority to a control terminal, and the control terminal sends GPS positioning data and height sensing data with a control terminal ID to the receiver; the wireless communication module 2 adopts 433MHz radio frequency technology, keeps the one-way communication from the control terminal to the receiver, and the control terminal sends a control instruction containing the ID identification of the control terminal to the receiver and controls the authority application/release instruction. In an actual scenario, the selected communication mode may be different, and the two modes may also adopt a division-of-work cooperation mode or a main-standby redundancy mode.
Fig. 2 is a schematic structural diagram of a mobile hoisting control device in an embodiment of the present invention, as shown in fig. 2. In an embodiment provided by the present invention, there is also provided a mobile hoisting control device, including: at least one processor;
the processor has the functions of numerical calculation and logical operation, and at least comprises a central processing unit CPU with data processing capacity, a random access memory RAM, a read-only memory ROM, various I/O ports, an interrupt system and the like.
In order to better implement the control function in the foregoing embodiments, the present invention provides an embodiment of a control terminal, also called a remote control device, which uses wireless communication and can be carried by an operator, and includes: the control terminal comprises a positioning module, an operation and control module, a permission management module and a permission indicator lamp, and further comprises a height sensor, a first communication module and a second communication module. In the prior art, there is a mobile control terminal of a single work machine, which also includes components such as a positioning module, a manipulation module, a right management module, and a right indicator lamp, but which does not include a height sensor, a first communication module, a second communication module, and the like, and which does not involve management of manipulation rights among a plurality of control terminals.
Fig. 3 is a schematic structural diagram of a mobile hoisting control system according to an embodiment of the present invention; in an embodiment provided by the present invention, there is also provided a mobile hoisting control system, including: a mobile lifting control device as described above and a plurality of control terminals as described above. The control terminal communicates with the receiver through the wireless communication module 1 and the wireless communication module 2. The subsystems on the tower are connected through a CAN bus and realize the operation and control functions of the operation machine, and the mobile hoisting control device CAN be arranged in the controller in fig. 3.
In an embodiment provided by the invention, the hoisting machine comprises the mobile hoisting control device. As described in the previous embodiment, the control device in the work machine system can execute the aforementioned mobile hoist control method and has a hardware environment with a processor and a memory. When the hoisting machine comprises the mobile hoisting control device, the control instruction of a remote wireless control terminal can be received, and the control authority is distributed, so that the hoisting operation is more accurate and safer.
Fig. 4 and 5 are flow charts of a mobile crane control method according to an embodiment of the present invention. As shown in fig. 4 and 5, the specific steps and logical relationships implemented in one lifting operation are described in more detail.
In order to facilitate understanding of those skilled in the art, the following illustrates the assignment of control authority in one lifting process. To complete one round of hoisting, various situations may occur during actual operation, the main principle is that the control authority of the control terminal is higher than that of the path planning system, the control terminals obtain the control authority according to the sequence of application, and several main control schemes are as follows: wherein, the 1 and 2 behind the control terminal are only distinguishing numbers and have the same functions as the first and the second.
1) The control terminals 1 and 2 are started, but the control terminals do not apply for control authority, and the lifting hook stays in the starting point area and is not moved;
2) only one control terminal is started, and applies for control authority, and a driver of the control terminal controls the operation machine in the whole process;
3) the control terminals 1 and 2 are started, the end point control terminal applies for and obtains control authority firstly, at the moment, two drivers can communicate through the interphone, and the end point control terminal releases the control authority or controls the operation machinery in the whole process of the end point control terminal to complete the round of hoisting;
3) the control terminals 1 and 2 are started, the starting point control terminal applies for and obtains control authority firstly, the starting point control terminal controls the lifting hook to leave the lifting hook area, the end point control terminal applies for the control authority firstly, the control authority is released after the starting point control terminal, and the end point control terminal controls the operation machinery to complete the lifting of the wheel;
4) the control terminals 1 and 2 are started, the starting point control terminal applies for control authority, the starting point control terminal controls the lifting hook to leave the lifting hook area, the starting point control terminal releases the control authority, the end point control terminal does not apply for the control authority, the motion planning system controls the operation machinery to automatically move, the end point control terminal applies for the control authority before the lifting hook enters the end point area, and the end point control terminal controls the operation machinery to complete the lifting of the wheel;
5) the control terminals 1 and 2 are started, the starting point control terminal applies for a control authority, the starting point control terminal controls the lifting hook to leave the lifting hook area, the starting point control terminal releases the control authority, the end point control terminal does not apply for the control authority, the motion planning system controls the operation machinery to automatically move, and after the lifting hook enters the end point area, the end point control terminal does not apply for the control authority, and the operation machinery stops moving;
6) the control terminals 1 and 2 are started, the starting point control terminal applies for a control authority, the starting point control terminal controls the lifting hook to leave the lifting hook area, the starting point control terminal releases the control authority, the terminal point control terminal does not apply for the control authority, the motion planning system controls the automatic motion of the operation machinery, a driver observes that the automatic motion has risks, and the control terminals 1 and 2 apply for obtaining the control authority to control the operation machinery or directly perform emergency stop operation.
In an embodiment provided by the present invention, a computer-readable storage medium is further provided, where instructions are stored in the storage medium, and when the instructions are executed on a computer, the instructions cause the computer to execute the aforementioned mobile hoisting control method.
The tower crane is taken as a device with safety and efficiency, a driver is required to monitor the state of a lifting hook at any time in the automatic operation process, and the control authority of the operation machine is obtained at any time under the abnormal condition. In the foregoing embodiment, the working machine has 4 control modes, namely, first control terminal control, second control terminal control, motion planning system control (total station control), and stop, and the working machine can adopt a flexible control mode according to a switching strategy of operation control authority among four modes in a round of hoisting process, thereby being capable of aiming at complex working conditions on the site of the working machine. The driver monitors the state of the lifting hook in the automatic operation process, and can switch to the control mode of the remote control console at any time, so that the safety and the efficiency of the control of the operation machine are ensured. The invention has simple logic, convenient realization and wide application scenes.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.
Those skilled in the art will understand that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.
Claims (11)
1. A mobile hoisting control method is characterized by comprising the following steps:
taking the position of the first control terminal as a starting point, and generating a hoisting path between the position of the first control terminal and the position of the second control terminal;
in the process of executing the hoisting path, distributing the control authority of the lifting hook based on the positions of the lifting hook relative to the first control terminal and the second control terminal and the control authority application of the first control terminal and the second control terminal until the hoisting path is executed.
2. The mobile hoist control method of claim 1, wherein prior to generating the hoist path, the method further comprises:
determining that the two control terminals are in a starting state;
receiving control authority applications of the two control terminals;
and distributing the control authority of the lifting hook to a control terminal which sends the application of the control authority firstly, and marking the control terminal as the first control terminal, wherein the other control terminal is the second control terminal.
3. The mobile hoisting control method according to claim 2, wherein the step of generating the hoisting path comprises:
planning the hoisting path by combining a three-dimensional scene model of a hoisting field based on the relative position information of the position of the first control terminal and the lifting hook and the relative position information of the position of the second control terminal and the lifting hook, and sending the hoisting path to the first control terminal and the second control terminal.
4. The mobile hoisting control method according to claim 2, wherein the assignment of the control authority of the hook based on the position of the hook relative to the first control terminal and the second control terminal and the control authority application of the first control terminal and the second control terminal comprises:
when the distance between the hook and the first control terminal is smaller than a first distance threshold, the first control terminal keeps the control authority;
when the distance between the hook and the first control terminal is larger than or equal to a first distance threshold value, the first control terminal releases the control authority;
when the second control terminal applies for the control authority and the control authority is not distributed to the first control terminal, distributing the control authority to the second control terminal;
and when the second control terminal does not apply for the control authority and the distance between the lifting hook and the second control terminal is smaller than a second distance threshold value, stopping the action of the lifting hook.
5. The mobile hoisting control method according to claim 2, wherein the hoisting path is re-planned when the location of the first control terminal and/or the location of the second control terminal is updated.
6. The mobile hoist control method of any one of claims 1 to 5, wherein after the completion of the execution of the hoist path, the method further comprises:
the first control terminal and the second control terminal are marked again;
and generating a hoisting path from the position of the first control terminal to the position of the second control terminal.
7. The mobile hoisting control method of claim 6, further comprising: and adopting different communication links to transmit the interaction information corresponding to the information types according to the information types of the interaction information between the first control terminal and the second control terminal.
8. The utility model provides a portable hoist and mount controlling means which characterized in that includes:
at least one processor;
a memory coupled to the at least one processor;
wherein the memory stores instructions executable by the at least one processor, and the at least one processor implements the mobile hoist control method of any one of claims 1 to 7 by executing the instructions stored by the memory.
9. A control terminal, comprising: orientation module, control module, authority management module and authority pilot lamp, its characterized in that, control terminal still includes: the height sensor comprises a height sensor, a first communication module and a second communication module.
10. A mobile hoisting control system, comprising: a mobile lifting control device according to claim 8 and a plurality of control terminals according to claim 9.
11. Hoisting machine, characterized in that it comprises a mobile hoisting control device according to claim 8.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010271010.4A CN111498697B (en) | 2020-04-08 | 2020-04-08 | Mobile hoisting control method, device and system and hoisting machine |
| PCT/CN2020/101332 WO2021203571A1 (en) | 2020-04-08 | 2020-07-10 | Movable hoisting control method, apparatus, and system, and crane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010271010.4A CN111498697B (en) | 2020-04-08 | 2020-04-08 | Mobile hoisting control method, device and system and hoisting machine |
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| CN111498697B CN111498697B (en) | 2021-06-08 |
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| WO2022141458A1 (en) * | 2020-12-31 | 2022-07-07 | 中联重科股份有限公司 | Hoisting control method and system, and engineering machine |
| CN115744635A (en) * | 2022-09-28 | 2023-03-07 | 北京东土科技股份有限公司 | Intelligent tower crane control system and method |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115650069B (en) * | 2022-11-04 | 2024-09-27 | 北京东土科技股份有限公司 | Tower crane control system |
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Also Published As
| Publication number | Publication date |
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| WO2021203571A1 (en) | 2021-10-14 |
| CN111498697B (en) | 2021-06-08 |
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