CN112794210A

CN112794210A - Tower crane automatic driving system and tower crane

Info

Publication number: CN112794210A
Application number: CN202110170478.9A
Authority: CN
Inventors: 陆文龙; 王贞; 郭雨; 吴斌
Original assignee: Wuhan University of Technology WUT
Current assignee: Wuhan University of Technology WUT
Priority date: 2021-02-08
Filing date: 2021-02-08
Publication date: 2021-05-14

Abstract

The invention discloses an automatic driving system of a tower crane and the tower crane, comprising a tower crane electromechanical mechanism, a tower upper cab, a ground control station and a wireless communication module, wherein the tower crane electromechanical mechanism comprises a walking mechanism, a swing mechanism, a luffing mechanism and a hoisting mechanism, the tower upper cab is provided with an unmanned automatic control system which comprises a tower upper controller, the tower upper controller is in signal connection with a series of sensors in the tower crane electromechanical mechanism and a motor of a working mechanism, the ground control station comprises a ground controller, and the tower upper controller is in remote signal connection with the ground controller through the wireless communication module. The invention saves the use of GPS or GNSS positioning system equipment, and self-drives each tower crane electromechanical mechanism in the fixed route according to the path and the control command appointed by the system by means of each sensor distributed in the prior art, thereby realizing the automatic driving of the fixed route, enabling the lifting hook of the tower crane to move back and forth between the material point and the construction point, and improving the working efficiency and the reliability of the tower crane.

Description

Tower crane automatic driving system and tower crane

Technical Field

The invention relates to the technical field of building construction safety, in particular to an automatic driving system of a tower crane and the tower crane using the automatic driving system of the tower crane.

Background

The building industry is always the prop industry of national economy and provides powerful support for the sustainable and healthy development of the economy of China. However, the production mode of the building industry is still relatively extensive, the traditional construction process and construction method can not meet the requirements of social sustainable development, and in order to realize transformation and upgrade in the building field and accelerate the transformation of the construction mode, a network information technology means is urgently needed to promote the high-quality development of the building industry.

The tower crane is a necessary building material transfer device for a construction site, is connected with materials by utilizing a lifting hook, and conveys the materials to a specified position through executing mechanisms such as a large arm, a trolley, the lifting hook and the like. However, safety accidents caused by improper operation of tower crane drivers, commanders and the like, equipment aging and the like sometimes occur. Some tower machines are provided with acousto-optic safety early warning systems, so that the accident risk can be reduced to a certain extent, but the acousto-optic safety early warning systems are still far from enough. The problems are mainly shown in that:

firstly, a driver drives high above the ground for a long time, visual fatigue is easily caused, the operation environment is severe, the psychological pressure is large, and the risks of misoperation and illegal operation are large;

secondly, when problems occur, a driver needs to independently judge how to handle the operation, and the optimal operation is difficult to ensure;

thirdly, materials are necessarily transferred along a fixed route repeatedly, fatigue is easy to occur, the probability of operation errors is high, and the efficiency of manual operation is low;

fourthly, the tower crane system can only prompt risks according to preset rules, and a driver is still required to determine how to operate the tower crane system. Meanwhile, because a driver usually respectively and independently operates the luffing mechanism, the hoisting mechanism and the slewing mechanism, the operation efficiency of the tower crane is low;

fifthly, the drivers of the tower cranes are scattered on each site, and centralized organization and management are inconvenient.

In addition, the existing tower crane automatic driving system often needs GPS or GNSS positioning system equipment, so that the cost and the system complexity are increased, and the feasibility and the reliability of the automatic driving system are reduced due to the problems of signal shielding, positioning system faults and the like.

Disclosure of Invention

The invention aims to solve the defects in the prior art, and provides an automatic driving system of a tower crane and the tower crane, wherein the system does not need GPS or GNSS positioning system equipment, and self-drives electromechanical mechanisms of the tower cranes in a fixed route according to a path and a control command specified by the system by means of sensors of all parts distributed in the prior art, so that the automatic driving is realized in the fixed route, and a lifting hook of the tower crane moves back and forth between a material point and a construction point. The labor intensity of a driver of the tower crane can be reduced, the cost of an additional GPS or GNSS positioning system and the probability of fault occurrence of the positioning system are reduced, and the working efficiency and the reliability of the tower crane are improved.

In order to achieve the purpose, the invention adopts the following technical scheme:

an automatic driving system of a tower crane comprises a tower crane electromechanical mechanism, a cab on the tower, a ground control station and a wireless communication module, wherein the tower crane electromechanical mechanism comprises a walking mechanism, a swing mechanism, an amplitude variation mechanism and a hoisting mechanism, the walking mechanism consists of a walking supporting device and a walking driving device, and the walking driving device comprises a walking driving motor and a tower body displacement sensor; the slewing mechanism consists of a slewing bearing device and a slewing driving device, wherein the slewing driving device comprises a slewing driving motor and a slewing angle sensor; the luffing mechanism consists of a trolley and a trolley traction device, and the trolley traction device comprises a trolley traction motor and a trolley displacement sensor; the lifting mechanism consists of a lifting hook and a lifting hook lifting device, and the lifting hook lifting device comprises a lifting hook lifting motor, a weight sensor and a lifting height sensor.

The tower cab is provided with an unmanned automatic control system, the unmanned automatic control system comprises a tower controller, a series of sensor signals in the tower electromechanical mechanism are input and connected to the tower controller, and a series of working mechanisms in the tower electromechanical mechanism are output and connected to a motor of the tower controller.

The ground control station comprises a ground controller, the tower controller is connected with the ground controller through a wireless communication module through remote signals, and the ground controller receives sensor data collected by the tower controller in real time through the wireless communication module.

As a further description of the above technical solution: the traveling support device comprises a traveling rail and a tower body, the slewing support device comprises a tower cap, a crane boom and a balance arm, the tower cap is arranged at the top end of the tower body, the crane boom and the balance arm are connected to two sides of the top of the tower cap in a diagonal pulling mode through steel pull rods, the tower cap, the crane boom and the balance arm are connected into a whole, the trolley is arranged on the crane boom in a moving and embedded mode, and the lifting hook is arranged right below the trolley in a connecting mode and keeps moving synchronously with the trolley;

the walking driving motor drives the tower body to move on the walking track, and the tower body displacement sensor acquires a displacement data value of the tower body in real time;

the rotation driving motor drives the tower cap, the crane boom and the balance arm to synchronously make rotation motion, and the rotation angle sensor acquires the rotation angle of the tower crane in real time;

the trolley traction motor is connected with the trolley in a traction manner and drives the trolley to move linearly on the crane boom, and the trolley displacement sensor acquires the displacement data of the trolley in real time;

the lifting hook lifting motor is connected with a driving winding drum for winding the steel wire rope in an output mode, the driving winding drum is connected with the lifting hook in a hanging mode through the pulley block, the driving winding drum controls the lifting operation of the lifting hook, the weight sensor acquires the weight of a hanging object hung by the lifting hook in real time, and the lifting height sensor acquires the lifting height of the lifting hook in real time.

As a further description of the above technical solution: the tower crane electromechanical mechanism further comprises a plurality of camera devices, and the camera devices are respectively arranged on the crane boom, the balance arm, the tower cap, the trolley and the lifting hook and are respectively connected to the controller on the tower of the cab on the tower through signals.

As a further description of the above technical solution: the ground controller is connected with an acousto-optic alarm system, a man-machine interaction operating system and a monitoring image and data display system through outward signals, and a command editor and a network delay real-time monitoring module are arranged in the man-machine interaction operating system;

the command editor classifies sensor data collected by the ground controller and generates a lifting hook height, a boom rotation angle, a trolley displacement amplitude line graph and a mechanism start-stop instruction recording graph which change along with time; the command editor sends a control command, and the ground controller sends a control signal to the controller on the tower through the wireless communication module; the network delay real-time monitoring module monitors the network state and the delay time in real time; the monitoring image and data display system is provided with a display screen.

As a further description of the above technical solution: the tower controller is internally provided with a first data transceiver module, a first data acquisition module and a first data cache module, wherein the first data transceiver module is responsible for processing input sensing, A/D conversion of video image data, data filtering and correction, data amplification and the like, and processing D/A conversion of output instruction data and the like; the first data acquisition module is responsible for acquiring and logically processing the processed sensing data input by the series of sensors; the first data cache module is responsible for storing, writing in and writing out various data in the running process; the ground controller is internally provided with a second data transceiver module, a second data acquisition module and a second data storage module, wherein the second data transceiver module is responsible for processing remote transmission data, A/D conversion of man-machine interaction data, data filtering and correction, data amplification and the like, and processing output instruction data, D/A conversion of video image data and the like; the second data acquisition module is responsible for acquiring the remote transmission data and the human-computer interaction data and performing logic processing; the second data storage module is responsible for storing, writing in and writing out various data in the operation process.

As a further description of the above technical solution: the unmanned automatic control system arranged in the tower cab comprises a tower controller, wherein a bridge circuit, a signal correction circuit, a comparator and a power amplifier are integrated with the tower controller.

As a further description of the above technical solution: controller structure uses the STM32 singlechip as the basis on the tower, still set up including the power, the crystal oscillator circuit, input signal converting circuit, input photoelectric isolation circuit, output photoelectric isolation circuit, relay output circuit, input signal converting circuit passes through input photoelectric isolation circuit signal input and connects STM32 singlechip, the STM32 singlechip passes through output photoelectric isolation circuit signal output and connects relay output circuit, the crystal oscillator circuit is used for providing the logic clock function with STM32 singlechip signal connection, the power is the power supply of STM32 singlechip and each circuit.

As a further description of the above technical solution: the tower crane electromechanical mechanism also comprises an air speed sensor and/or a tower body inclination sensor and/or an obstacle sensor and/or a lifting weight limiter and/or a lifting moment limiter and/or an acousto-optic safety alarm device, wherein the air speed sensor is arranged on a tower cap, and a signal is input to a controller on the tower and used for acquiring air speed data in real time; the tower body inclination sensor is arranged on the steel pull rod, and a signal is input to the controller on the tower and is used for acquiring real-time data of the inclination state of the tower crane; the obstacle sensor is arranged on the crane arm, the balance arm and the lifting hook, and signals are input to the controller on the tower and used for monitoring obstacles which may appear in the working range of the tower crane to acquire real-time data; the lifting load limiter and the lifting moment limiter are arranged on the lifting hook, signals are input to the controller on the tower, the lifting load limiter is used for acquiring weight data of a lifted object in real time, and the lifting moment limiter is used for acquiring lifting moment and deviation amplitude of the lifting hook and the lifted object in real time; the sound-light safety alarm device is arranged in a cab on the tower, and is connected to a controller on the tower through signals.

As a further description of the above technical solution: the remote control center is remotely connected with a plurality of tower controllers and/or a plurality of ground controllers through a network communication module. The remote control center adopts a cloud control mode.

In addition, the invention also provides a tower crane, and the automatic driving system of the tower crane is applied.

The invention has the following beneficial effects:

the automatic tower crane driving system and the tower crane provided by the invention realize open real-time tower crane operation monitoring based on a system platform integrating a sensor technology, an embedded control technology, a data acquisition technology, a data processing technology, a wireless communication network and a remote communication technology, and can transfer a driver's work place to the ground or even concentrate the driver's work place to a remote control center. The cab on the tower is in an unmanned control mode and is mainly used for signal transmission, maintenance of the tower crane, temporary control and other operations; the ground control station can completely control the tower crane on the ground, the safety is high, and the whole tower crane such as the luffing mechanism, the hoisting mechanism, the slewing mechanism and the like can be comprehensively operated by one person at the same time, so that the operation efficiency of the tower crane is high; the remote control center is a centralized office place for all tower crane drivers, and can realize functions of attendance sign-in, identity confirmation, remote tower crane driving, tower crane difficult problem consultation, tower crane running state monitoring and the like, or solve the problem that a ground control station is set without relevant conditions on a construction site. The working efficiency is improved while the safety is ensured.

The electromechanical mechanism of the tower crane provided by the invention mainly comprises four parts, namely a travelling mechanism, a swing mechanism, a luffing mechanism and a hoisting mechanism, each part is provided with a control motor and a sensor device, and the control motor and the sensor device have a driver manual operation mode and an automatic control mode, so that the electromechanical mechanism of the tower crane can be remotely and manually operated by a single driver, and also can realize an automatic driving mode of automatic unmanned control operation based on an intelligent program, and the electromechanical mechanism of the tower crane operates independently in different structures, so that the electromechanical mechanism of the tower crane is strong in practicability, safe.

And thirdly, the ground controller is adopted to send a control signal of the electromechanical mechanism of the tower crane to the controller on the tower, and the controller on the tower controls the electromechanical mechanism of the tower crane according to the received instruction. The ground controller receives the sensor data collected by the controller on the tower in real time through the wireless communication module, the command editor classifies the collected sensor data, a lifting hook height, a boom rotation angle, a trolley displacement amplitude line graph and a mechanism start-stop instruction recording graph which change along with time are generated, and instructions are played section by section according to the instruction recording graph, so that an automatic driving mode of a fixed route is realized. The system completes automatic driving of a fixed route only by means of the existing sensor system of the tower crane without any additional positioning system, can automatically avoid obstacles, realizes optimized control instructions, greatly reduces labor intensity, avoids risks of high-altitude operation, and has feasibility and reliability.

And fourthly, the camera device provided by the invention can acquire a monitoring camera picture and remotely transmit the monitoring camera picture to a ground control station or a remote control center, so that the working state of the tower crane can be further monitored visually in real time.

The tower crane is further provided with a wind speed sensor, a tower body inclination sensor, an obstacle sensor, a lifting load limiter, a lifting moment limiter and an acousto-optic safety alarm device, so that more diversified monitoring and higher safety of the operation of the tower crane are enhanced.

A human-computer interaction operating system connected with the ground controller is internally provided with a command editor and a network delay real-time monitoring module, wherein the command editor has a high-speed data processing function, can classify and process collected sensor data and generate an instruction recording chart, and then remotely sends the instruction recording chart to a controller on the control tower in a control command mode to realize a core data processing control function; the network delay real-time monitoring module is used as a safety kit, can monitor the network state and the delay time in real time, dynamically displays the current network state on a display screen of a monitoring image and data display system, stops relevant work of all tower crane electromechanical mechanisms when the network is monitored to be unstable or the network delay exceeds a preset limit value, backups relevant operation instruction data into corresponding first and second data storage (cache) modules, and simultaneously carries out prompt explanation on the display screen.

And seventhly, the remote control center adopts a cloud control mode, so that the control mode and the function are more intelligent and diversified, and the remote control stability is stronger.

The invention omits the use of GPS or GNSS positioning system equipment, simplifies the operation difficulty and reduces the operation cost.

Drawings

FIG. 1 is a schematic structural diagram of an automatic steering system of a tower crane according to an embodiment;

FIG. 2 is a schematic structural diagram of an electromechanical mechanism of a tower crane according to a first embodiment;

FIG. 3 is a schematic diagram illustrating a signal transmission control principle of a tower controller and a ground controller based on wireless communication according to an embodiment;

FIG. 4 is a schematic diagram of an input/output structure of a tower controller based on an STM32 single chip microcomputer in the first embodiment;

fig. 5 is a schematic diagram of a logic connection structure and a working principle of automatic control of the displacement of the tower body based on the combined operation of the controller on the tower, the displacement sensor on the tower body and the traveling drive motor in the first embodiment (the logic connection structure and the working principle of the automatic control of other working mechanisms can be referred to in the figure);

FIG. 6 is a schematic structural diagram of an automatic steering system of a tower crane according to a second embodiment;

FIG. 7 is a schematic diagram illustrating a distributed network control principle of a remote control center of the automatic steering system of the tower crane according to the second embodiment;

FIG. 8 is a flowchart of a first step of an automatic driving mechanism implemented by the automatic driving system of the tower crane in the third embodiment;

FIG. 9 is a flow chart of a second step of the automatic driving mechanism of the tower crane automatic driving system in the third embodiment;

FIG. 10 is a flow chart of a third step of the automatic steering mechanism of the automatic steering system of the tower crane according to the third embodiment;

FIG. 11 is a schematic view of a driving flow of a tower teaching fixed route according to the third embodiment;

fig. 12 is a diagram for explaining route information and command key points of the automatic driving in the third embodiment;

fig. 13 is a recorded graph of an application control command path for automatic driving in the third embodiment, in which a change graph of a trolley displacement amplitude ρ is taken as an example to draw a preset error range (a dotted line) of a simulation, and other change graphs (boom rotation θ, hook lifting height h) are similar to the preset error range.

Illustration of the drawings:

1-a traveling mechanism; 11-a tower body; 12-a walking track; 13-steel tie rods; 14-a walking supporting device, 15-a walking driving device, 151-a walking driving motor and 152-a tower body displacement sensor; 16-tower cap; 2-a pass-back mechanism; 21-a crane arm; 22-a balance arm; 24-slewing bearing device, 25-slewing drive device, 251-slewing drive motor, 252-slewing angle sensor; 3-an amplitude changing mechanism, 31-a trolley, 32-a trolley traction device, 321-a trolley traction motor and 322-a trolley displacement sensor; 4-a lifting mechanism, 41-a lifting hook, 42-a lifting hook lifting device and 421-a lifting hook lifting motor; 422-weight sensor, 423-lifting height sensor; 7-a cab on the tower, 71-a controller on the tower, 72-a first data transceiver module, 73-a first data acquisition module, 74-a first data cache module; 8-ground control station, 81-ground controller, 82-acousto-optic alarm system, 83-man-machine interaction operation system; 84-a monitoring image and data display system, 85-a second data transceiver module, 86-a second data acquisition module and 87-a second data storage module; 9-a remote control center; 10-a wireless communication module; 17-camera means.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The first embodiment is as follows:

referring to fig. 1-5, the first embodiment adopts the following technical solutions: an automatic driving system of a tower crane comprises a tower crane electromechanical mechanism, an upper tower cab 7 and a ground control station 8, wherein the tower crane electromechanical mechanism comprises a travelling mechanism 1, a slewing mechanism 2, an amplitude variation mechanism 3 and a lifting mechanism 4. The tower cab 7 is provided with an unmanned automatic control system, which comprises a tower controller 71, the tower controller 71 can generate a motor control signal by adopting a series of sensor signals in a tower electromechanical mechanism and a set moving target, the ground control station 8 comprises a ground controller 81, the tower controller 71 of the tower cab 7 is connected with the ground controller 81 through a wireless communication module 10 remote signal, so that the remote control of the tower crane is realized, and in the embodiment, the wireless communication module 10 adopts a GPRS wireless communication mode. The ground controller 81 receives and processes the sensor data collected by the tower controller 71 in real time through the wireless communication module 10.

Referring to fig. 3, in the present embodiment, the tower controller 71 includes a first data transceiver module 72, a first data acquisition module 73, and a first data buffer module 74;

the first data transceiver module 72 is responsible for processing input sensing, a/D conversion of video image data, data filtering and correction, data amplification and the like, and processing D/a conversion of output instruction data and the like;

the first data acquisition module 73 is responsible for acquiring the processed sensing data input by the series of sensors and performing logic processing;

the first data cache module 74 is responsible for storing, writing in and writing out various data in the running process;

the ground controller 81 is internally provided with a second data transceiver module 85, a second data acquisition module 86 and a second data storage module 87;

the second data transceiver module 85 is responsible for processing of remote transmission data, a/D conversion of human-computer interaction data, data filtering and correction, data amplification and the like, and processing of D/a conversion of output instruction data, video image data and the like;

the second data acquisition module 86 is responsible for acquiring the remote transmission data and the human-computer interaction data and performing logic processing;

the second data storage module 87 is responsible for storing, writing and writing various data during operation.

As another specific implementation manner of this embodiment, the unmanned automatic control system provided in the tower cab 7 includes a tower controller 71, and the tower controller 71 further integrates a bridge circuit, a signal correction circuit, a comparator, and a power amplifier. The specific working principle refers to the following automatic control modes of the travelling mechanism 1:

the traveling mechanism 1 is composed of a traveling support device 14 and a traveling drive device 15, the traveling support device 14 comprises a traveling rail 12 and a tower body 11, the traveling drive device 15 comprises a traveling drive motor 151 and a tower body displacement sensor 152, the controller 71 on the tower is connected with the traveling drive motor 151 through instruction type signal output, and the traveling drive motor 151 drives the tower body 11 to move on the traveling rail 12 to convert the operation place; the tower body displacement sensor 152 acquires the displacement data value of the tower body 11 in real time, feeds the signal back to the controller 71 on the tower, and remotely transmits the signal to the ground controller 81;

manual operation mode: the driver inputs the electric signal for moving the tower body 11 through human-computer interaction by the ground controller 81 of the ground control station 8, the electric signal is converted into a digital signal and then sent out, the controller 71 on the tower of the cab 7 on the tower receives the digital signal and converts the digital signal into an electric signal output instruction, the walking driving motor 151 starts to move, the displacement data is fed back to the controller 71 on the tower in real time by the tower body displacement sensor 152, and the ground controller 81 receives the fed back tower body movement data after the same signal conversion, so that the movement of the walking driving motor 151, namely the tower body 11, is controlled by the ground control station 8.

An automatic control mode: referring to fig. 5, firstly, a periodic pattern program of the automated moving operation of the tower 11 is set based on the ground controller 81, the ground controller 81 maintains real-time communication with the tower controller 71 and stores the periodic pattern data of the automated moving operation of the tower 11 in the first data cache module 74 of the tower controller 71. The tower controller 71 is integrated with a bridge circuit, a signal correction circuit, a comparator, and a power amplifier. The first data cache module 74 outputs an electrical signal corresponding to the tower displacement limit setting value, the tower displacement sensor 152 feeds back the electrical signal corresponding to the tower displacement data in real time, the two electrical signals serve as two bridge arms of a bridge circuit, the output result of the bridge circuit is corrected by a signal correction circuit, a comparator compares the signal output by the signal correction circuit with a reference signal (preset), and after the comparison result is amplified by a power amplifier, the electrical signal corresponding to the tower displacement control command is output to the walking drive motor 151. In this embodiment, the output tower displacement control command includes the direction of displacement of the tower 11 and a distance value (0 to a limit value), so as to implement an automatic control mode for the displacement of the tower 11.

The slewing mechanism 2 consists of a slewing bearing device 24 and a slewing driving device 25, the slewing bearing device 24 comprises a tower cap 16, a lifting arm 21 and a balance arm 22, the tower cap 16 is arranged at the top end of the tower body 11, the lifting arm 21 and the balance arm 22 are connected to two sides of the top of the tower cap 16 in an inclined pulling mode through a steel pull rod 13, the tower cap 16, the lifting arm 21 and the balance arm 22 are connected into a whole, the slewing driving device 25 comprises a slewing driving motor 251 and a slewing angle sensor 252, the slewing driving motor 251 drives the tower cap 16, the lifting arm 21 and the balance arm 22 to perform integrated slewing motion, the working range of the machine is expanded, and the slewing angle sensor 252 acquires and feeds back the rotating angle of the tower crane in real time;

manual operation mode: the electric signal which makes the swing mechanism 2 rotate is inputted by man-machine interaction through the ground controller 81 and is converted into a digital signal to be sent out, the controller 71 on the tower of the cab 7 on the tower receives the signal and converts the signal into an electric signal output instruction, the swing driving motor 251 starts to work, the swing angle data is fed back to the controller 71 on the tower in real time through the swing angle sensor 252, and the ground controller 81 receives the fed back swing angle data after the same signal conversion, so that the operation of the swing driving motor 251, namely the swing mechanism 2, is controlled by the ground control station 8.

An automatic control mode: firstly, a periodic mode program (rotation direction, angle, etc.) of the automatic operation work of the swing mechanism 2 is set based on the ground controller 81, the ground controller 81 maintains real-time communication with the on-tower controller 71, and the periodic mode data (rotation direction, angle, etc.) of the automatic operation work of the swing mechanism 2 are stored in the first data cache module 74 of the on-tower controller 71. The first data cache module 74 outputs an electrical signal corresponding to the rotation angle limit setting value of the rotation mechanism 2, the rotation angle sensor 252 feeds back the electrical signal corresponding to the rotation angle data in real time, the two electrical signals are used as two bridge arms of a bridge circuit, the output result of the bridge circuit is corrected by a signal correction circuit, a comparator compares the signal output by the signal correction circuit with a reference signal (preset), and after the comparison result is amplified by a power amplifier, the electrical signal corresponding to the rotation angle control command is output to the rotation driving motor 251, so that the automatic control mode of the operation of the rotation mechanism 2 is realized.

The luffing mechanism 3 consists of a trolley 31 and a trolley traction device 32, the trolley 31 is movably connected and embedded on the boom 21, the trolley traction device 32 comprises a trolley traction motor 321 and a trolley displacement sensor 322, the trolley traction motor 321 is in traction connection with the trolley 31 to drive the trolley 31 to move linearly on the boom 21, and the trolley displacement sensor 322 acquires displacement data of the trolley 31 in real time;

manual operation mode: the electric signal for displacing the trolley 31 is input by a driver through the ground controller 81 in a man-machine interaction manner, the electric signal is converted into a digital signal and then is sent out, the electric signal is converted into an electric signal output instruction after being received by the tower controller 71 of the cab 7 on the tower, the trolley traction motor 321 starts to work to drive the trolley 31 to linearly move on the crane arm 21 in a reciprocating manner, the trolley 31 displacement data is fed back to the tower controller 71 in real time through the trolley displacement sensor 322, and the ground controller 81 receives the fed-back trolley 31 displacement data after the same signal conversion, so that the control of the trolley traction motor 321, namely the trolley 31, on the ground control station 8 on the reciprocating linear movement operation of the trolley traction motor is realized.

An automatic control mode: firstly, a periodic mode program (moving direction, distance value, etc.) of the reciprocating automatic operation work of the trolley 31 is set based on the ground controller 81, the ground controller 81 and the tower controller 71 keep real-time communication, and the periodic mode data (moving direction, distance value, etc.) of the reciprocating automatic operation work of the trolley 31 are stored in the first data cache module 74 of the tower controller 71. The first data buffer module 74 outputs an electric signal corresponding to the limit setting value of the reciprocating distance of the trolley 31, the trolley displacement sensor 322 feeds back the electric signal corresponding to the reciprocating data of the trolley 31 in real time, the two electric signals are used as two bridge arms of the bridge circuit, the output result of the bridge circuit is corrected by the signal correction circuit, the comparator compares the signal output by the signal correction circuit with a reference signal (preset), the comparison result is amplified by the power amplifier, and then the electric signal corresponding to the reciprocating motion control instruction of the trolley 31 is output to the trolley traction motor 321, so that the automatic control mode of the reciprocating motion operation of the trolley traction motor 321, namely the trolley 31, is realized.

The lifting mechanism 4 consists of a lifting hook 41 and a lifting hook lifting device 42, wherein the lifting hook 41 is connected and arranged under the trolley 31 and keeps moving synchronously with the trolley 31; the lifting hook lifting device 42 comprises a lifting hook lifting motor 421, a weight sensor 422 and a lifting height sensor 423, wherein the lifting hook lifting motor 421 outputs and is connected with a driving drum wound with a steel wire rope, the driving drum is connected with the lifting hook 41 in a hanging manner through a pulley block, the weight sensor 422 acquires the weight of a hanging object hung on the lifting hook 41 in real time and feeds back the weight, and the lifting height sensor 423 acquires the lifting height of the lifting hook 41 in real time and feeds back the height;

manual operation mode: the driver inputs an electric signal for lifting the hook 41 through human-computer interaction through the ground controller 81 of the ground control station 8, the electric signal is converted into a digital signal and then sent out, the controller 71 on the tower of the cab 7 on the tower receives the digital signal and then converts the digital signal into an electric signal output instruction, the hook lifting motor 421 starts to work, the hook 41 is driven to drive the hanging object to reciprocate linearly up and down, the weight of the hanging object hung on the hook 41 is obtained in real time through the weight sensor 422, the lifting height sensor 423 obtains the lifting height of the hook 41 in real time and feeds the lifting height back to the controller 71 on the tower, and the ground controller 81 receives data of the lifting height of the hook 41 and the weight of the hanging object fed back after the same signal conversion, so that the control of the lifting operation of the hook lifting motor 421, namely the hanging object of the hook.

An automatic control mode: firstly, a periodic mode program (lifting direction, distance value, weight of suspended weight and the like) of the lifting automatic operation work of the lifting hook 41 is set based on the ground controller 81, the ground controller 81 and the on-tower controller 71 keep real-time communication, and periodic mode data (lifting direction, distance value, weight of suspended weight and the like) of the lifting automatic operation work of the lifting hook 41 are stored in the first data cache module 74 of the on-tower controller 71. The first data buffer module 74 outputs the electric signals corresponding to the lifting distance of the lifting hook 41 and the weight limit setting value of the suspended weight, the weight sensor 422 and the lifting height sensor 423 feed back and obtain the electric signals corresponding to the data in real time, the two electric signals are used as two bridge arms of a bridge circuit, the output result of the bridge circuit is corrected by a signal correction circuit, a comparator compares the signal output by the signal correction circuit with a reference signal (preset), and after the comparison result is amplified by a power amplifier, the electric signals corresponding to the lifting control instruction of the lifting hook 41 are output to the lifting hook motor 421, so that the automatic control mode of the lifting hook 41 in the lifting operation of the lifting hook motor 421 is realized.

As another specific implementation manner of this embodiment, the tower crane electromechanical mechanism further includes a plurality of cameras 6, the plurality of cameras 6 are respectively disposed on the boom 21, the balance arm 22, the tower cap 16, the trolley 31, and the hook 41, and are respectively connected to the tower controller 71 of the cab 7 on the tower in a signal manner, the cameras 6 are pan-tilt-type cameras capable of rotating freely, the obtained monitoring camera images are remotely transmitted to the ground controller 81 through the tower controller 71, and the working state of the tower crane can be visually monitored in real time.

As another specific implementation manner of this embodiment, the electromechanical mechanism of the tower crane further includes a wind speed sensor, a tower body inclination sensor, an obstacle sensor, a lifting load limiter, a lifting moment limiter, and an acousto-optic safety alarm device, where the acousto-optic safety alarm device is disposed on the tower cab 7, and the signal is connected to the controller 71 on the tower.

The wind speed sensor is arranged on the tower cap 16, and the signal input is connected to the controller 71 on the tower and used for collecting wind speed data in real time and monitoring the wind speed;

the tower body inclination sensor is arranged on the steel pull rod 13, the signal input is connected to the controller 71 on the tower, and the controller is used for acquiring and monitoring the inclination state of the tower crane in real time, remotely transmitting early warning data when the inclination state exceeds a preset limit value, and sending out sound and light warning through a sound and light safety alarm device;

the obstacle sensors are arranged on the crane arm 21, the balance arm 22 and the lifting hook 41, and the signal input is connected to the controller 71 on the tower, so that the obstacle sensors are used for monitoring obstacles which may appear in the working range of the tower crane to acquire data in real time and prevent collision.

Load lifting limiter and load lifting moment limiter all locate on lifting hook 41, and all signal input is connected to controller 71 on the tower, and load lifting limiter is used for gathering in real time the weight data of hanging the thing, and load lifting moment limiter is used for gathering in real time lifting hook 41 and the load lifting moment and the range of deviating. When the tower crane works, corresponding allowable working load exists in a certain range, if the allowable working load exceeds the allowable working load, the early warning data is remotely transmitted, and the lifting hook lifting motor 421 is controlled to be powered off. If the amplitude of the lifted heavy object exceeds the corresponding maximum amplitude, the early warning data is remotely transmitted, and the trolley traction motor 321 is controlled to be powered off.

As another specific implementation manner of this embodiment, referring to fig. 4, the structure of the controller 71 on the tower is based on an STM32 single chip microcomputer, and further includes a power supply, a crystal oscillator circuit, an input signal conversion circuit, an input photoelectric isolation circuit, an output photoelectric isolation circuit, and a relay output circuit, where the input signal conversion circuit is connected to the STM32 single chip microcomputer through signal input of the input photoelectric isolation circuit, the STM32 single chip microcomputer is connected to the relay output circuit through signal output of the output photoelectric isolation circuit, the crystal oscillator circuit is connected to the STM32 single chip microcomputer through signals for providing a logic clock function, and the power supply supplies power to the STM32 single chip microcomputer and each circuit. The input and output photoelectric isolation circuit filters and prevents photoelectric interference in the operation process.

As another specific implementation manner of this embodiment, the ground controller 81 is connected with an acousto-optic alarm system 82, a man-machine interaction operating system 83, and a monitoring image and data display system 84 through an external signal. A network delay real-time monitoring module is arranged in the man-machine interaction operating system 83 and used for monitoring the network state and delay time in real time; the monitor image and data display system 84 is provided with a display screen. The current network state can be dynamically displayed on the display screen, when the network is monitored to be unstable or the network delay exceeds a preset limit value, all tower crane electromechanical mechanisms stop relevant work, relevant operation instruction data are backed up to corresponding first and second data storage (cache) modules, prompt explanation is carried out on the display screen, when a network signal is recovered, the man-machine interaction operation system 83 sends a data synchronization request to a network end, offline cache data are uploaded, and all tower crane electromechanical mechanisms recover relevant work. The function effectively avoids misoperation and field accidents caused by the fact that a driver cannot obtain field data in time, and improves the operation safety of the driver.

In addition, this embodiment provides a tower crane who uses above-mentioned tower crane autopilot system.

Example two:

referring to fig. 6 to 7, the present embodiment, as a further limitation to the first embodiment, adopts the following technical solutions: the automatic driving system of the tower crane further comprises a remote control center 9, wherein the remote control center 9 is remotely connected with a plurality of tower controllers 71 and/or a plurality of ground controllers 81 through broadband, 5G and other network communication modules. Further realize tower crane's collective remote control and management, can realize that the driver signs in on duty, the identity confirms, remote tower machine is driven, tower machine difficult problem consultation, tower machine running state control etc. function, or solve the problem that the job site does not possess relevant condition and set up ground station 8. The working efficiency is improved while the safety is ensured.

The remote control center 9 adopts a cloud control mode, so that the control mode and the function are more intelligent and diversified, and the remote control stability is stronger.

In addition, this embodiment provides a tower crane that has applied above-mentioned tower crane autopilot system.

Example three:

referring to fig. 8 to 13, in this embodiment, as a further limitation to the first embodiment or the second embodiment, the following technical solutions are adopted: an automatic driving system of a tower crane, a controller 71 on the tower controls the actions of each motor structure of the tower crane according to a control instruction sent by a ground controller 81, such as starting, braking and the like; the ground controller 81 is used for outputting and recording the starting time and the stopping time of each motor structure to the tower controller 71.

The man-machine interaction operation system 83 is internally provided with a command editor (an internal logic module, not shown in the figure) which is used for classifying the sensor data collected by the ground controller 81 and generating an instruction recording diagram which changes along with driving time on a panel of the editor by using the recorded data of each sensor, wherein the instruction recording diagram comprises a boom rotation angle change diagram, a trolley displacement amplitude change diagram, a lifting hook lifting height change diagram and the like.

The wireless communication module 10 is used for wirelessly transmitting the control command of the command editor to the tower controller 71, and is used for wirelessly transmitting the data collected by each sensor to the ground controller 81.

The embodiment provides an automatic driving mode of a fixed route of a tower crane, and the automatic driving mode flow comprises three steps: the first step is the demonstration of the tassel, and path information and control instructions are collected; secondly, playing the instruction section by section to optimize the path information; and thirdly, the tower crane well realizes automatic driving according to a set path.

Referring to fig. 8, the first step is specifically that a tower crane driver manually operates the tower crane to complete material transfer and reset of a fixed route, meanwhile, each sensor transmits path information and instruction data in the driving process of the tower crane to the ground controller 81, and then the command editor generates real-time data into a time-varying line graph called an initial instruction path graph. As shown with reference to fig. 13.

Referring to fig. 11, a specific implementation flow of material transfer in the first step is that (here, it is assumed that an initial position of a hook 41 of the tower crane is at a material point), a material worker hangs a material on the hook 41, the tower crane is manually operated by the tower crane to start the hook mechanism to lift the material, and when the material is in a safe position after a period of time, the hook stops lifting. During this time, the lifting height sensor 423 wirelessly transmits the start and stop times of the hook 41 and the height (with the material point height as the origin) of the hook 41 with time to the ground controller 81. The command editor then generates hook start and stop instructions from the data. The time interval between two instructions is the hook rise time. And generating a curve of a graph of the change of the height h of the hook on the display screen to represent the change of the height h of the hook. The turret controls the boom 21 to rotate to a position above the construction site and stop (the tower body 11 is adaptively translated on the traveling rail 12), during which the rotation angle sensor 252 wirelessly transmits the information on the time point when the boom 21 starts and ends rotating and the angle of the boom 21 changing with time to the ground controller 81. Similarly, the time interval of the two instructions is the time of the boom 21 rotation, and a curve is generated on the graph of the boom 21 rotation angle θ variation generated on the display screen. And then, the tower driver control trolley 31 changes the amplitude to the position above the construction point, the displacement amplitude rho of the trolley 31 is increased, the lifting hook 41 moves downwards to the construction point, the materials are unloaded, and the unloading is finished. Similarly, corresponding starting and stopping instructions are generated on the instruction graph, and corresponding curves are generated in the corresponding mechanism change graphs.

In the first step, the concrete implementation process of resetting the tower crane is that the cargo boom 21 is transferred from a construction point to a material point (the tower body 11 performs adaptive translation on the walking track 12), the trolley 31 moves above the material point in a variable amplitude manner, the lifting hook 41 moves downwards to the material point, and finally the tower crane returns to the initial position. During driving, the start and stop commands for the boom 21, the hook 41 and the trolley 31 are also generated on the command map of the display screen. And the height h of the hook 41, the rotation angle theta of the boom 21 and the displacement amplitude rho of the trolley 31 are curves along with time. The final command editor has available therein an initial command path diagram comprising a command log, a height h variation, a gyration angle theta variation and an amplitude rho variation.

Referring to fig. 9, the second step plays the command segment by segment, optimizing the path. The command editor plays the initial command path graph segment by segment and the ground controller 81 sends the command signal to the on-tower controller 71. The tower controller 71 controls the corresponding mechanisms such as the boom 21, the hook 41 and the cart 31 according to the issued commands (without the need for tower control). After each instruction is played, the corresponding person observes whether the corresponding mechanism reaches the corresponding instruction position, such as the instruction position shown in fig. 12. If so, continuing to play the next section of instruction until the playing of the initial instruction path diagram is completed. If the command cannot reach the corresponding command position after being played, the command editor supplements, edits and optimizes the path information and the command (for example, prolongs and shortens the corresponding action time) on the initial command diagram according to the actual position, and the ground controller sends the optimized command signal to the controller 71 on the tower so as to control the corresponding mechanism of the tower crane to reach the corresponding position. If the command arrives, continuing to play the next section of command, and if the command does not arrive, continuing to repeat the steps. When the final playing is completed, the initial instruction path diagram (possibly modified) is saved and named as the application instruction path diagram. In the actual automatic driving process, the generated height h change diagram, the curve of the revolution angle theta change diagram and the curve of the amplitude rho change diagram are not completely overlapped with the curve in the initial command path diagram, so an acceptable error range is preset on the application command diagram. In the third step of the automatic driving, the actual command path diagram generated by the random structure operation is considered to be normal if it is within the set error range.

Referring to FIG. 13, the command editor plays a second piece of instructions, the boom swing start and swing stop instructions, according to the initial command path diagram. The ground controller 81 sends out a command signal, the tower controller 71 receives the command and controls the rotation driving motor 251 to start to rotate the crane arm 21, and after a period of time, the rotation stopping command stops the crane arm 21 from rotating. Meanwhile, data collected by the rotation angle sensor 252 are wirelessly transmitted to the ground controller 81, and a section of curve is correspondingly generated in the rotation angle theta variation graph. And after the instruction is played, observing whether the crane boom 21 reaches the position above the construction point. And if so, starting to play a third section of instruction. If the specified position is not reached, the command editor optimizes or edits the command (for example, moves the command position to prolong or shorten the action time) and the path information on the initial command path diagram according to the position at the moment. The tower controller 71 receives the command signal from the ground controller 81 to control the boom 21 to rotate until the boom 21 reaches the position above the construction point, and then plays the fourth command.

The instruction locations mentioned in the second step are: in the process of the material point reaching the construction point, the crane arm 21 reaches above the construction point, the trolley 31 reaches above the construction point, and the lifting hook 41 reaches the construction point. In the process that the construction point reaches the material point, the crane boom 21 reaches above the material point, the trolley 31 reaches above the material point, and the lifting hook 41 reaches the material point. As illustrated in fig. 12.

Referring to fig. 10, in the third step, the tower crane realizes automatic driving according to the set route. The command editor plays a command according to a path set on the application command path diagram, the ground controller 81 sends the command, the controller 71 on the tower receives the command and controls the corresponding mechanism to act (without control of the tower driver), the corresponding sensor sends path information data to the ground controller 81, the command editor generates a real curve corresponding to a change diagram from the collected data, compares the real curve with the corresponding curve in the application command diagram, and if the real curve is within an allowable error range, the command editor continues to play the command until the whole command path diagram is completed, so that automatic driving of a fixed path of the tower crane is completed.

The ground controller 81 receives images from the crane arm 21, the trolley 31 and the camera 17 at the lifting hook 41 and synchronously displays the images on the display screen. The driver can pause the playback instructions before a collision and before an operation mistake according to the display image to reduce the probability of collision or mistake.

Finally, it should be noted that: the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that are within the spirit and principle of the present invention are intended to be included in the scope of the present invention.

Claims

1. The utility model provides a tower crane autopilot system, includes tower machine electromechanical mechanism, driver's cabin (7), ground control station (8), wireless communication module (10) on the tower, its characterized in that: the electromechanical mechanism of the tower crane comprises a walking mechanism (1), a slewing mechanism (2), a luffing mechanism (3) and a hoisting mechanism (4);

the walking mechanism (1) consists of a walking supporting device (14) and a walking driving device (15), wherein the walking driving device (15) comprises a walking driving motor (151) and a tower body displacement sensor (152);

the rotary mechanism (2) consists of a rotary supporting device (24) and a rotary driving device (25), wherein the rotary driving device (25) comprises a rotary driving motor (251) and a rotary angle sensor (252);

the amplitude variation mechanism (3) consists of a trolley (31) and a trolley traction device (32), wherein the trolley traction device (32) comprises a trolley traction motor (321) and a trolley displacement sensor (322);

the lifting mechanism (4) consists of a lifting hook (41) and a lifting hook lifting device (42), and the lifting hook lifting device (42) comprises a lifting hook lifting motor (421), a weight sensor (422) and a lifting height sensor (423);

an unmanned automatic control system is arranged in a tower cab (7) and comprises a tower controller (71), a series of sensor signals in the tower electromechanical mechanism are input and connected to the tower controller (71), and a series of motors in the tower electromechanical mechanism are output by the tower controller (71) signals;

the ground control station (8) comprises a ground controller (81), the tower controller (71) is connected with the ground controller (81) through a wireless communication module (10) through remote signals, and the ground controller (81) receives sensor data collected by the tower controller (71) in real time through the wireless communication module (10).

2. The automatic steering system of the tower crane according to claim 1, wherein: the walking supporting device (14) comprises a walking track (12), a tower body (11) and a slewing supporting device (24), and the walking supporting device comprises a tower cap (16), a lifting arm (21) and a balance arm (22), wherein the tower cap (16) is arranged at the top end of the tower body (11), the lifting arm (21) and the balance arm (22) are connected to each other in a diagonal manner through a steel pull rod (13) on two sides of the top of the tower cap (16), so that the tower cap (16), the lifting arm (21) and the balance arm (22) are connected into a whole, and a trolley (31) is movably connected and embedded into the lifting arm (21); the lifting hook (41) is connected and arranged under the trolley (31) and keeps moving synchronously with the trolley (31);

the traveling driving motor (151) drives the tower body (11) to move on the traveling track (12), and the tower body displacement sensor (152) acquires a displacement data value of the tower body (11) in real time;

a rotary driving motor (251) drives a tower cap (16), a crane boom (21) and a balance arm (22) to synchronously make rotary motion, and a rotary angle sensor (252) acquires the rotating angle of the crane boom (21) of the tower crane in real time;

the trolley traction motor (321) is connected with the trolley (31) in a traction manner and drives the trolley (31) to move linearly on the crane arm (21), and the trolley displacement sensor (322) acquires displacement data of the trolley (31) in real time;

lifting hook hoist motor (421) output connection twines wire rope's drive reel, and drive reel hangs connection lifting hook (41) through the assembly pulley, and the lift operation of drive reel control lifting hook (41), weight that lifting hook (41) hung the hanging object is acquireed in real time in weight sensor (422), and the height of going up and down that lifting hook (41) were acquireed in real time in lift height sensor (423).

3. The automatic steering system of the tower crane according to claim 2, wherein: the tower crane electromechanical mechanism further comprises a plurality of camera devices (6), wherein the camera devices (6) are respectively arranged on the lifting arm (21), the balance arm (22), the tower cap (16), the trolley (31) and the lifting hook (41) and are respectively connected to a tower controller (71) of the cab (7) on the tower in a signal mode.

4. The automatic steering system of the tower crane according to claim 3, wherein: the ground controller (81) is connected with an acousto-optic alarm system (82), a man-machine interaction operating system (83) and a monitoring image and data display system (84) in an outward signal mode, and a command editor and a network delay real-time monitoring module are arranged in the man-machine interaction operating system (83);

the command editor classifies sensor data collected by the ground controller (81) and generates a lifting hook height, a boom rotation angle, a trolley displacement amplitude line graph and a mechanism start-stop instruction recording graph which change along with time; the command editor sends a control command to the controller (71) on the tower through the ground controller (81) and the wireless communication module (10); the network delay real-time monitoring module monitors the network state and the delay time in real time; the monitored image and data display system (84) is provided with a display screen.

5. The automatic tower crane steering system of claim 4, wherein: the tower controller (71) is internally provided with a first data transceiver module (72), a first data acquisition module (73) and a first data cache module (74), wherein the first data transceiver module (72) is responsible for processing input sensing, A/D conversion of video image data, data filtering and correction, data amplification and the like, and processing output instruction data, such as D/A conversion and the like;

the first data acquisition module (73) is responsible for acquiring the processed sensing data input by the series of sensors and performing logic processing;

the first data cache module (74) is responsible for storing, writing in and writing out various data in the operation process;

the ground controller (81) is internally provided with a second data transceiver module (85), a second data acquisition module (86) and a second data storage module (87);

the second data transceiver module (85) is responsible for processing remote transmission data, A/D conversion of man-machine interaction data, data filtering and correction, data amplification and the like, and processing output instruction data, D/A conversion of video image data and the like;

the second data acquisition module (86) is responsible for acquiring the remote transmission data and the human-computer interaction data and performing logic processing;

the second data storage module (87) is responsible for storing, writing and writing various data in the running process.

6. The automatic tower crane steering system of claim 5, wherein: the unmanned automatic control system arranged in the tower cab (7) comprises a tower controller (71), wherein the tower controller (71) is provided with a bridge circuit, a signal correction circuit, a comparator and a power amplifier in a matching way.

7. The automatic steering system of the tower crane according to claim 6, wherein: controller (71) structure uses the STM32 singlechip as the basis on the tower, still set up including the power, the crystal oscillator circuit, input signal converting circuit, input photoelectric isolation circuit, output photoelectric isolation circuit, relay output circuit, input signal converting circuit passes through input photoelectric isolation circuit signal input connection STM32 singlechip, the STM32 singlechip is through output photoelectric isolation circuit signal output connection relay output circuit, the crystal oscillator circuit is used for providing the logic clock function with STM32 singlechip signal connection, the power is the power supply of STM32 singlechip and each circuit.

8. The automatic tower crane steering system of claim 7, wherein: the tower crane electromechanical mechanism also comprises a wind speed sensor and/or a tower body inclination sensor and/or an obstacle sensor and/or a lifting capacity limiter and/or a lifting moment limiter and/or an acousto-optic safety alarm device;

the wind speed sensor is arranged on the tower cap (16), and the signal input is connected to the controller (71) on the tower and used for collecting wind speed data in real time;

the tower body inclination sensor is arranged on the steel pull rod (13), and the signal input is connected to the controller (71) on the tower and used for acquiring real-time data of the inclination state of the tower crane;

the obstacle sensors are arranged on the crane arm (21), the balance arm (22) and the lifting hook (41), and signal inputs are connected to the controller (71) on the tower and used for monitoring obstacles which may appear in the working range of the tower crane to acquire real-time data;

the lifting capacity limiter and the lifting moment limiter are arranged on the lifting hook (41), the signal inputs of the lifting capacity limiter and the lifting moment limiter are connected to a controller (71) on the tower, the lifting capacity limiter is used for acquiring weight data of a lifted object in real time, and the lifting moment limiter is used for acquiring lifting moment and deviation amplitude of the lifting hook (41) and the lifted object in real time;

the acousto-optic safety alarm device is arranged on a cab (7) on the tower, and is connected with a controller (71) on the tower through signals.

9. The automatic tower crane steering system of claim 8, wherein: the system is characterized by further comprising a remote control center (9), wherein the remote control center (9) is remotely connected with a plurality of tower controllers (71) and/or a plurality of ground controllers (81) through a network communication module, and the remote control center (9) adopts a cloud control mode.

10. A tower crane, characterized in that: the automatic tower crane driving system according to any one of claims 1 to 9.