CN114751296A - Intelligent tower crane lifting appliance and electric unlocking rope control method thereof - Google Patents
Intelligent tower crane lifting appliance and electric unlocking rope control method thereof Download PDFInfo
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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
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
- B66C1/34—Crane hooks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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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
- B66C15/00—Safety gear
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The application discloses tower machine intelligence hoist and electronic unlocking rope control method thereof, the hoist includes: the device comprises a shell, and an image acquisition module, a distance measurement module, a positioning module, a weighing module, an obstacle avoidance module and an electric rotation module which are arranged in the shell; the top of the shell is provided with a wireless communication module, and one side of the wireless communication module is provided with a human-computer interaction module; the output end of the electric rotating module penetrates through the bottom of the shell and is connected with a lifting appliance, and one side of the lifting appliance is provided with an electric unlocking rope mechanism for unlocking a material rope on the lifting appliance; the wireless communication module is connected with a control module in the tower crane and used for sending data acquired by the image acquisition module, the distance measurement module, the obstacle avoidance module, the man-machine interaction module, the positioning module and the weighing module to the control module and receiving control parameters returned by the control module to regulate and control the rotation angle of the electric rotation module and the starting and stopping of the electric unlocking rope mechanism. The intelligent lifting appliance can finish autonomous hanging, conveying and accurate blanking work, and effectively improves the efficiency and safety of tower crane operation.
Description
Technical Field
The invention relates to the technical field of tower cranes, in particular to an intelligent lifting appliance of a tower crane and an electric unlocking rope control method thereof.
Background
The tower crane is called tower crane for short, and is an essential device on a building site because of large operation space. Because the body of tower machine is high, and the control chamber all is located the body of tower top, in tower machine working process, because the sight distance is far away, building shelter, reasons such as light, the operation situation of hoist department is very difficult direct observation to the driver, influences operating efficiency to there is the potential safety hazard.
The tower crane lifting appliance in the prior art is designed by a common hook head, consists of a hook body and a safety lock, basically finishes hanging through a rope lifting belt, finishes blanking by manually pushing and pulling auxiliary adjustment and positioning and direction on a blanking site, generally finishes rope unwinding by manpower, and needs personnel to control and professional qualified operators in the whole process. Not only degree of automation is low, and extravagant manpower resources. Even if the electric rope untying exists, the electric rope untying is not combined with parameters such as image recognition, and the control cannot be completely and accurately carried out.
Disclosure of Invention
The embodiment of the application provides an intelligent lifting appliance of a tower crane and an electric unlocking rope control method thereof. The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview and is intended to neither identify key/critical elements nor delineate the scope of such embodiments. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.
In an optional embodiment, a tower crane intelligent spreader comprises:
the device comprises a shell, an image acquisition module, a distance measurement module, a positioning module, a weighing module, an obstacle avoidance module and an electric rotation module, wherein the image acquisition module, the distance measurement module, the positioning module, the weighing module, the obstacle avoidance module and the electric rotation module are arranged in the shell;
the top of the shell is provided with a wireless communication module, and one side of the wireless communication module is provided with a human-computer interaction module;
the output end of the electric rotary module penetrates through the bottom of the shell and is connected with a lifting appliance, and one side of the lifting appliance is provided with an electric unlocking rope mechanism for unlocking a material rope on the lifting appliance;
the wireless communication module is connected with a control module in the tower crane and used for sending data acquired by the image acquisition module, the distance measurement module, the obstacle avoidance module, the man-machine interaction module, the positioning module and the weighing module to the control module and receiving control parameters returned by the control module to regulate and control the rotation angle of the electric rotation module and the starting and stopping of the electric unlocking rope mechanism.
In an alternative embodiment, the housing is removably connected to the spreader height brake mechanism.
In an optional embodiment, the ranging module comprises:
the system comprises an ultrasonic ranging sensor, a radar ranging sensor, a laser multipoint ranging sensor, a laser radar ranging sensor and an air pressure height sensor, and is used for sensing the position of a target in a preset distance, acquiring a three-dimensional model of the target and establishing a three-dimensional point cloud picture.
In an optional embodiment, the human-computer interaction module comprises:
the gesture recognition unit is used for acquiring and recognizing gesture information of a user;
the voice recognition unit is used for acquiring and recognizing voice information of a user;
the voice broadcasting unit is used for carrying out voice communication with a user;
the danger early warning unit is used for sending out prompt information and automatically starting the safety equipment when a dangerous condition is identified;
and the somatosensory interaction unit is used for carrying out somatosensory operation control through the VR glasses.
In an optional embodiment, further comprising:
the power supply module is used for supplying power to the intelligent lifting appliance;
the power module has a work awakening mode and an equipment starting self-checking function and is a lithium battery with a charging circuit, and the charging circuit is connected with a generator on the lifting appliance;
the illumination control module is used for automatically regulating and controlling illumination and light supplement equipment according to the light brightness of a construction site;
and the electromagnetic compatibility anti-interference protective shell is arranged on the lifting appliance frame.
In an optional embodiment, the wireless communication is an autonomous dedicated multiband data communication network consisting of 5G, 4G, Wifi or Lora internet of things.
In a second aspect, an embodiment of the present application provides a method for controlling an electric unlocking rope of an intelligent lifting appliance of a tower crane, including:
Judging whether the distance between the material and the ground is smaller than a preset distance threshold value or not;
when the distance between the material and the ground is smaller than a preset distance threshold value, controlling the lifting appliance to automatically rotate according to the direction information and the position information of the placement of the positioning box and the direction information of the lifting appliance so as to directionally place the material in the direction corresponding to the direction;
judging whether the materials reach the ground or not;
when the materials reach the ground, the lifting appliance automatically falls to a preset height, and the unlocking and rope releasing of the lifting appliance are automatically carried out.
In an optional embodiment, determining whether the material arrives at the surface comprises:
collecting the weight of the material on the lifting appliance through a weighing sensor;
acquiring a tightness state image of a hoisting steel wire rope through a camera, and inputting the tightness state image into a pre-trained image classification model to obtain the tightness state of the steel wire rope;
and when the weight of the material is smaller than a preset threshold value and the steel wire rope is in a loose state, determining that the material reaches the ground.
In an optional embodiment, the spreader unlocking and unlaying is performed automatically, comprising:
the steel wire rope is ejected out of the hook head in a spiral line rotating mode through power, so that rope unwinding is achieved.
In an optional embodiment, further comprising:
receiving control information transmitted by the somatosensory interaction unit;
Controlling the direction and position of the lifting appliance according to the control information transmitted by the somatosensory interaction unit, and directionally placing the lifting appliance in the direction corresponding to the material;
and when the material reaches the ground, the lifting appliance is controlled to automatically fall to a preset height, and unlocking and rope releasing of the lifting appliance are carried out.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
according to the intelligent lifting appliance provided by the embodiment of the application, through installing the ranging module on the lifting appliance, the image acquisition module, the electric rotating module, the obstacle avoidance module, the wireless communication module and the like, the instant map construction and positioning are realized, the relatively comprehensive environmental signal acquisition during the lifting operation is realized, the optimal transportation path is automatically planned, the obstacle is automatically judged and avoided, the automatic adjustment of the lifting appliance is realized, the automatic unlocking rope can be automatically unlocked, the automatic hanging and accurate control blanking and positioning adjustment functions can be completed. Can realize unmanned hanging and grabbing transportation. The efficiency of tower machine operation has effectively been improved to the operation security has been improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a schematic structural diagram of an intelligent tower crane spreader according to an exemplary embodiment;
fig. 2 is a schematic structural diagram of an intelligent tower crane spreader according to an exemplary embodiment;
FIG. 3 is a schematic structural diagram illustrating a smart tower crane spreader according to an exemplary embodiment;
fig. 4 is a communication schematic diagram of a smart spreader, according to an exemplary embodiment;
fig. 5 is a schematic structural diagram illustrating a smart spreader in accordance with an exemplary embodiment;
fig. 6 is a schematic diagram illustrating an unlaying configuration of an intelligent spreader in accordance with an exemplary embodiment;
fig. 7 is a schematic view of an unlocking configuration of a smart spreader, according to an exemplary embodiment;
description of the drawings:
1. image acquisition module, 2, ultrasonic ranging sensor, 3, radar ranging sensor, 4, laser ranging sensor, 5, keep away the barrier module, 6, gesture recognition and speech recognition unit, 7, narrowband wireless communication unit, 8, GPS positioning unit, 9, gesture detecting element, 10, height detecting element, 11, electronic gyration unit, 12, weighing unit, 13, gib head skew scope detection control unit, 14, laser radar ranging sensor, 15, voice broadcast unit, 16, dangerous early warning unit, 17, broadband wireless router, 18, power supply unit, 19, power management unit, 20, lighting control module.
Detailed Description
The following description and the drawings sufficiently illustrate specific embodiments of the invention to enable those skilled in the art to practice them.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. 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 following description refers to the accompanying drawings in which the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present invention. Rather, they are merely examples of systems and methods consistent with certain aspects of the invention, as detailed in the appended claims.
In the prior art, a tower crane lifting appliance is designed by a common hook head, consists of a hook body and a safety lock, basically finishes hanging through a rope lifting belt, finishes blanking by manually pushing and pulling auxiliary adjustment and positioning and direction on a blanking site, generally manually untying the rope, and needs personnel to control and professional qualified operators to finish the whole process. Not only the degree of automation is low, and human resources are wasted. Even if the electric rope untying exists, the electric rope untying is not combined with parameters such as image recognition, and the control cannot be completely and accurately carried out.
Based on this, the embodiment of the application provides an intelligent tower crane lifting appliance, and the electric rotary lifting appliance used by an intelligent tower crane is developed and researched to finish autonomous hanging, conveying and accurate blanking.
The following describes in detail an intelligent lifting appliance for a tower crane according to an embodiment of the present application with reference to fig. 123. Referring to fig. 123, the smart spreader includes:
the device comprises a shell, an image acquisition module, a distance measurement module, an obstacle avoidance module, a positioning module and an electric rotation module, wherein the image acquisition module is arranged in the shell, the distance measurement module, the obstacle avoidance module, the positioning module and the electric rotation module are arranged in the shell, a wireless communication module is arranged at the top of the shell, and a human-computer interaction module is arranged on one side of the wireless communication module.
In an alternative embodiment, the housing is removably connected to the spreader height brake mechanism. Namely a steel wire rope braking mechanism on the lifting appliance, and drives the lifting appliance to move up, down, left and right integrally. The lifting appliance can be integrally removed, the lifting appliance can not only be replaced, and is convenient to replace and maintain, the lifting appliance can be conveniently replaced by other components such as a gripping apparatus and a lifting hook, and the application range is widened.
The output of electronic gyration module passes the casing bottom and connects the hoist, one side of hoist is equipped with electronic unlocking rope mechanism, a material rope for on the unblock hoist, wireless communication module links to each other with the control module in the tower machine, a data transmission to control module for with image acquisition module, the distance measuring module, keep away the barrier module, man-machine interaction module, the data transmission that orientation module and weighing module gathered, and the control parameter who receives control module return regulates and control the rotation angle of electronic gyration module and the opening of electronic unlocking rope mechanism and stops.
Specifically, the electric rotating module provided by the embodiment of the present application includes: the air pressure height sensor is used for acquiring height information of the material; the weighing sensor is used for collecting the weight of the material; the electric rotary unit is used for controlling the lifting appliance to automatically rotate according to the direction information and the position information of the placement of the positioning box and the direction information of the lifting appliance so as to directionally place the lifting appliance in the direction corresponding to the material; and the electric rope releasing unit is used for automatically unlocking and releasing the rope of the lifting appliance.
In a possible implementation mode, the height of the material is collected through the air pressure height sensor, whether the distance between the material and the ground is smaller than a preset distance threshold value or not is judged according to the collected height, and when the distance between the material and the ground is smaller than the preset distance threshold value, for example, when the distance between the material and the ground is close, the automatic rotation of the lifting appliance is controlled according to the direction information and the position information of the positioning box and the direction information of the lifting appliance, so that the direction of the corresponding material is directionally placed.
Further, judging whether the material reaches the ground or not, and acquiring the weight of the material on the lifting appliance through a weighing sensor; acquiring a tightness state image of a hoisting steel wire rope through a camera, and inputting the tightness state image into a pre-trained image classification model to obtain the tightness state of the steel wire rope; and when the weight of the material is less than a preset threshold value and the steel wire rope is in a loose state, determining that the material reaches the ground.
When the materials reach the ground, the weighing sensor can sense the change of the weight, the camera can see that the hoisting steel wire rope is not kept in a tensioned state any more and can be loosened, when the weight sensed by the sensor is 0, the object falls on the ground, and at the moment, the lifting appliance can continuously fall to a certain height, so that the unlocking and rope releasing of the lifting appliance can be carried out.
Fig. 6 is a schematic diagram illustrating an unlaying configuration of a smart spreader in accordance with an exemplary embodiment; fig. 7 is a schematic view illustrating an unlocking structure of the smart spreader according to an exemplary embodiment. Specifically, after the material reaches the ground, the electric rope unwinding mechanism is automatically controlled to be started, and the rope unwinding device ejects the steel wire rope out of the hook head in a spiral line rotating mode through power so as to realize rope unwinding.
Through the electric rotation function, the direction of the lifting appliance is electrically adjusted by the lifting appliance according to the direction data, the directional placement of materials is realized, the blanking direction and position of the materials are automatically adjusted, and the autonomous hanging, conveying and accurate blanking work is completed.
In an optional embodiment, the intelligent lifting appliance further comprises an image acquisition module 1, images near the lifting appliance are acquired through the image acquisition module 1, the acquired images are sent to a control module of the tower crane through a wireless communication module, the control module of the tower crane processes the received images, and then objects or personnel near the lifting appliance can be identified, so that obstacle avoidance or path planning is performed.
In an optional embodiment, the image capturing module 1 may be a network high-definition zooming camera, and when capturing objects at different distances, the network high-definition zooming camera is adopted, so that zooming can be automatically performed, thereby achieving high-definition capturing. The shot images can be displayed on a display screen arranged in a cab of the tower crane after being transmitted, so that a driver can obtain local environment conditions on the basis of mastering the overall conditions of the surrounding environment of the lifting appliance, and more accurate judgment and operation can be conveniently carried out.
Optionally, the acquired image may also be sent to an operation handle of the mobile terminal. The operator can check the operation information so as to make more accurate judgment and operation.
In an optional embodiment, the smart spreader may also sense and identify the target through the ranging module. The distance measuring sensors can be arranged around the lifting appliance body and adopt different distance measuring modes aiming at different objects.
For example, the ranging module in the embodiment of the present application includes an ultrasonic ranging sensor 2, and for a transparent object (e.g., glass), an ultrasonic ranging method is adopted. The ultrasonic waves are transmitted by the sensor head and the ultrasonic waves reflected by the object are received again by the sensor head, and the ultrasonic ranging sensor 2 can measure the distance to the object by measuring the "time" from transmission to reception.
Optionally, the ranging module in this embodiment of the present application further includes a radar ranging sensor 3 and a laser ranging sensor 4, and for an object with a complex shape, a laser or millimeter wave radar is used, and the millimeter wave radar uses a high-frequency electromagnetic wave with a wavelength of less than 1cm and a frequency of more than 30GHz, and has a strong linear propagation capability, and is hardly affected by weather conditions. The laser ranging adopts TOF (time of flight), which is the time when the laser emitted by the pulse reaches the object and returns, and the distance is calculated according to the speed of light. The transmitter generates high-frequency high-power pulse strings under the control of the timer, and the pulse strings reach the directional antenna through the transceiving switch and radiate outwards in the form of electromagnetic waves. Under the control of the antenna control equipment, the antenna beam scans in space according to a specified direction, when electromagnetic waves irradiate on a target, part of secondary scattered electromagnetic waves reach the radar antenna, are transmitted to the receiver through the receiving and transmitting switch, are amplified, mixed and detected, and are transmitted to the radar terminal equipment, so that the existence, the direction, the distance, the speed and the like of the target can be judged.
Optionally, the ranging module in this embodiment further includes a laser radar ranging sensor 14, the laser radar ranging sensor 14 analyzes the turn-back time of the laser after encountering the target object by transmitting and receiving the laser beam, calculates the relative distance to the target object, and quickly obtains a three-dimensional model of the target object and various related data such as lines, surfaces, and bodies by using information such as three-dimensional coordinates, reflectivity, and textures of a large number of dense points on the surface of the target object collected in the process, establishes a three-dimensional point cloud graph, draws an environment map, and transmits the environment map to the control module of the tower crane.
The control module analyzes the shape and the position of an object in the point cloud environment map, sends specific parameters to the attitude detection unit 9 and the height detection unit 10, and controls the rotating speed and the torque of the motor, so that the tower crane is controlled to operate at a proper height and position.
In an optional embodiment, the intelligent lifting appliance in the embodiment of the present application further includes a human-computer interaction module, where the human-computer interaction module includes a gesture recognition and voice recognition unit 6, and is configured to acquire gesture information and voice information of a user, for example, a noise reduction microphone is disposed on the lifting appliance, an instruction of an operator at a position where a material is lifted is acquired, a camera is disposed on the lifting appliance, and a gesture of the operator is acquired. And sending the acquired gestures and voice information to a tower crane control module, and processing the received data by the tower crane control module through a voice recognition unit and a gesture recognition unit which are arranged in the tower crane control module and returning control information. The position of a lifting appliance of the tower crane can be controlled in a short distance, and fine adjustment action during hanging is realized.
Optionally, the man-machine interaction module further comprises a voice broadcasting unit 15, and voice communication with the user is realized through a built-in speaker. Danger prompt information, weight information of materials carried by the lifting appliance, overweight prompt information of the materials carried by the lifting appliance and the like can be played.
Optionally, the human-computer interaction module still includes dangerous early warning unit 16, and dangerous early warning unit 16 is connected with control module, and when the hoist body got into the barrier early warning within range, control module output early warning signal given dangerous early warning unit 16, made dangerous early warning unit 16's bee calling organ send intermittent type nature length unanimous buzzing sound, audible-visual annunciator scintillation red light to report unit 16 through the language and carry out voice prompt.
Optionally, when the hanger body enters the alarm range of the obstacle, the control module outputs an alarm signal to the danger early-warning unit 16, so that a buzzer of the danger early-warning unit 16 sends out sudden buzzes with different lengths, the audible and visual alarm flashes a red light and automatically starts the safety device, and danger is automatically avoided through facilities such as emergency stop safety, a pull rope and the like.
In an optional embodiment, the intelligent lifting appliance further comprises an obstacle avoidance module 5, which can adopt an optical flow obstacle avoidance sensor, and is arranged inside the cavity of the lifting appliance body.
Optionally, the intelligent lifting appliance provided by the embodiment of the application further comprises a body sensing control unit, so that eye-control positioning can be realized through VR glasses, and body sensing operation control is realized. For example, control information transmitted by the somatosensory interaction unit is received; controlling the direction and position of the lifting appliance according to the control information transmitted by the somatosensory interaction unit, and directionally placing the lifting appliance in the direction corresponding to the material; and when the material reaches the ground, the lifting appliance is controlled to automatically fall to a preset height, and unlocking and rope releasing of the lifting appliance are carried out.
The intelligent lifting appliance provided by the embodiment of the application can realize human-computer interaction participation control by arranging the human-computer interaction module, can realize danger early warning, and greatly improves the intelligence of the lifting appliance and the safety during operation.
In an optional embodiment, the intelligent lifting appliance further comprises a positioning module, wherein the positioning module comprises a GPS positioning unit 8, and optionally a differential high-precision GPS positioning system, which is arranged inside the cavity of the lifting appliance body and used for detecting the position information of the lifting appliance. Including gesture detecting element 9, optional 9 axle attitude sensor sets up inside hoist body cavity for detect and regulate and control the direction information of hoist. The positioning module is in wireless communication connection with the control module and sends the position and the direction of the lifting appliance to the control module. When materials are automatically put in, the automatic rotation of the lifting appliance can be controlled according to the direction information and the position information of the placement of the positioning box at the position where the materials are placed and the direction information and the position information of the lifting appliance detected by positioning, so that the lifting appliance can be placed in a direction orientation mode corresponding to the materials.
In an optional embodiment, in order to ensure smooth operation of the intelligent lifting appliance, the intelligent lifting appliance further comprises a power supply module for supplying power to the intelligent lifting appliance. The power module is a storage battery with a charging circuit, and the charging circuit is connected with a generator on the lifting appliance.
Specifically, a power supply unit 18 is arranged in the intelligent lifting appliance, the power supply unit 18 comprises a storage battery and a generator, the generator and the pulley rotate together to generate electricity, so that the storage battery is supplied with power, power management is performed through a power management unit 19, and the power supply problem of the intelligent lifting appliance is solved.
In an optional embodiment, the intelligent lifting appliance further comprises an electromagnetic compatibility anti-interference protection shell, and the electromagnetic compatibility anti-interference protection shell is arranged on the lifting appliance. Through setting up electromagnetic compatibility jam-proof protective housing, can avoid the electronic equipment on the hoist frame to expose outside throughout the year, avoid electronic equipment to be soaked by the rainwater, lead to the problem of equipment ageing, damage. Electromagnetic interference can be avoided, and automatic selection and replacement of the lifting appliance can be realized.
In an optional embodiment, the intelligent lifting appliance further includes a lighting control module 20, which is connected to the wireless communication module and the power module, and may be a lighting device, which is disposed outside the lifting appliance body and is configured to automatically turn on or off according to the brightness of the light at the worksite.
Specifically, control module can analyze out the on-the-spot light and shade condition of building site according to the three-dimensional point cloud map information of transmission, and when the on-the-spot light of building site was darker, control lighting apparatus opened automatically, can increase steady cloud platform camera synchronization angle with taking precautions against earthquakes automatically, gives the camera light filling. When the camera is darker on the scene of building site, control lighting apparatus self-closing realizes the using electricity wisely.
Optionally, the wireless communication module in this embodiment of the present application includes a narrowband wireless communication unit 7 and a broadband wireless router 17, and has an ad hoc network capability, and implements functions of communication, wireless network transmission, image transmission, and data transmission.
According to the intelligent lifting appliance provided by the embodiment of the application, the automatic hanging and conveying can be realized through installing the distance measuring module, the image acquisition module, the electric rotation module, the obstacle avoidance module, the wireless communication module and the like on the lifting appliance, the automatic adjustment and the placement of the blanking direction and the position are realized, the accurate control blanking and the positioning adjustment are realized, and the electric rope unwinding is realized. The efficiency of tower machine operation has effectively been improved to the operation security has been improved.
Fig. 4 is a schematic communication diagram of an intelligent lifting appliance according to an exemplary embodiment, and as shown in fig. 4, the intelligent lifting appliance is in wireless communication connection with a positioning box at a material placement position, a direction and a position signal sensed by the positioning box can be wirelessly transmitted to the intelligent lifting appliance, the direction of the lifting appliance is electrically adjusted according to the direction and the position data of the positioning box, so that the directional placement of the material is realized, and the blanking direction and the position of the material are automatically adjusted. The intelligent lifting appliance is also in wireless communication connection with the control module on the tower crane, and is used for sending data acquired by each sensor on the intelligent lifting appliance to the control module and receiving a control instruction returned by the control module.
Fig. 5 is a schematic structural diagram of an intelligent lifting appliance according to an exemplary embodiment, as shown in fig. 5, the intelligent lifting appliance includes a network high-definition zoom camera, an ultrasonic ranging sensor, a microwave, a millimeter-wave radar ranging sensor, a laser ranging sensor, a 2-3D rotary and solid-state laser radar ranging sensor, an optical flow obstacle avoidance unit, a gesture recognition and voice recognition synthesis module, a speaker and power amplifier signal transmission module, an automatic danger prompting acousto-optic module, a differential high-precision big dipper GPS positioning module, a 9-axis gesture detection module, a height sensor module, a power management module, and an illumination and automatic light compensation control module.
The embodiment of the application further provides a control method for the electric unlocking rope of the intelligent lifting appliance of the tower crane, which comprises the following steps:
judge whether the distance of material and ground is less than preset apart from the threshold value, for example, gather the height of material through atmospheric pressure altitude sensor, judge whether the distance of material and ground is less than preset apart from the threshold value according to the height of gathering, when the distance of material and ground is less than preset apart from the threshold value, for example, when the distance of material and ground is close, according to direction information and the positional information that the location box was put and the direction information of hoist, control hoist autogiration to the directional orientation of the direction that corresponds the material is put. The specific value of the preset threshold can be set according to the actual situation.
Further, judging whether the material reaches the ground or not, and acquiring the weight of the material on the lifting appliance through a weighing sensor; acquiring a tightness state image of a hoisting steel wire rope through a camera, and inputting the tightness state image into a pre-trained image classification model to obtain the tightness state of the steel wire rope; and when the weight of the material is less than a preset threshold value and the steel wire rope is in a loose state, determining that the material reaches the ground.
In an exemplary scene, when the material reaches the ground, the weighing sensor can sense the change of the weight, the camera can see that the hoisting steel wire rope is not kept in a tensioned state any more and can be loosened, when the weight sensed by the sensor is 0 and the steel wire rope is in a loosened state, the object is shown to have fallen to the ground, and at the moment, the hanger can continuously fall to a certain height, so that the unlocking and rope releasing work of the hanger can be carried out. The rope releasing device ejects the steel wire rope out of the hook head in a spiral line rotating mode through power so as to realize rope releasing.
According to the intelligent lifting appliance provided by the embodiment of the application, the materials can be automatically grabbed and put in unmanned time, and the operation efficiency is improved.
In an optional embodiment, further comprising: receiving control information transmitted by the somatosensory interaction unit, for example, controlling the intelligent lifting appliance by a user through equipment such as AR glasses and AR gloves capable of collecting gestures of the user, and controlling the direction and the position of the lifting appliance according to the control information transmitted by the somatosensory interaction unit so as to directionally place the lifting appliance in the direction corresponding to the material; and when the material reaches the ground, the lifting appliance is controlled to automatically fall to a preset height, and unlocking and rope releasing of the lifting appliance are carried out.
All possible combinations of the technical features in the above embodiments may not be described for the sake of brevity, but should be considered as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.
The above examples only show several embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent should be subject to the appended claims.
Claims (10)
1. An intelligent lifting appliance for a tower crane is characterized by comprising:
the device comprises a shell, an image acquisition module, a distance measurement module, a positioning module, a weighing module, an obstacle avoidance module and an electric rotation module, wherein the image acquisition module, the distance measurement module, the positioning module, the weighing module, the obstacle avoidance module and the electric rotation module are arranged in the shell;
the top of the shell is provided with a wireless communication module, and one side of the wireless communication module is provided with a human-computer interaction module;
the output end of the electric rotary module penetrates through the bottom of the shell and is connected with a lifting appliance, and one side of the lifting appliance is provided with an electric unlocking rope mechanism for unlocking a material rope on the lifting appliance;
The wireless communication module is connected with a control module in the tower crane and used for sending data acquired by the image acquisition module, the distance measurement module, the obstacle avoidance module, the man-machine interaction module, the positioning module and the weighing module to the control module and receiving control parameters returned by the control module to regulate and control the rotation angle of the electric slewing mechanism and the starting and stopping of the electric unlocking rope mechanism.
2. The intelligent spreader of claim 1, wherein the shell is detachably connected to the spreader height braking mechanism.
3. The intelligent spreader of claim 1, wherein the ranging module comprises:
the system comprises an ultrasonic ranging sensor, a radar ranging sensor, a laser multipoint ranging sensor, a laser radar ranging sensor and an air pressure height sensor, and is used for sensing the position of a target in a preset distance, acquiring a three-dimensional model of the target and establishing a three-dimensional point cloud picture.
4. The intelligent spreader of claim 1, wherein the human-computer interaction module comprises:
the gesture recognition unit is used for acquiring and recognizing gesture information of a user;
the voice recognition unit is used for collecting and recognizing voice information of a user;
the voice broadcasting unit is used for carrying out voice communication with a user;
The danger early warning unit is used for sending out prompt information and automatically starting the safety equipment when a dangerous condition is identified;
and the somatosensory interaction unit is used for carrying out somatosensory operation control through the VR glasses.
5. The intelligent spreader of any one of claims 1-4, further comprising:
the power supply module is used for supplying power to the intelligent lifting appliance;
the power module has a work wake-up mode and an equipment starting self-checking function, and is a lithium battery with a charging circuit, and the charging circuit is connected with a generator on the lifting appliance;
the illumination control module is used for automatically regulating and controlling illumination light supplementing equipment according to the light brightness of a construction site;
and the electromagnetic compatibility anti-interference protective shell is arranged on the lifting appliance frame.
6. The intelligent spreader of any one of claims 1-4, wherein the wireless communication is an autonomous dedicated multiband data communication network consisting of 5G, 4G, Wifi or Lora Internet of things.
7. A control method for an electric unlocking rope of an intelligent lifting appliance of a tower crane adopts the intelligent lifting appliance of the tower crane of any one of claims 1 to 6, and is characterized in that: the method comprises the following steps:
judging whether the distance between the material and the ground is smaller than a preset distance threshold value or not;
When the distance between the material and the ground is smaller than a preset distance threshold value, controlling the lifting appliance to automatically rotate according to the direction information and the position information of the placement of the positioning box and the direction information of the lifting appliance so as to directionally place the material in the direction corresponding to the direction;
judging whether the materials reach the ground or not;
when the materials reach the ground, the lifting appliance automatically falls to a preset height, and the unlocking and rope releasing of the lifting appliance are automatically carried out.
8. The method of claim 7, wherein determining whether the material has reached the surface comprises:
collecting the weight of the material on the lifting appliance through a weighing sensor;
acquiring a tightness state image of a hoisting steel wire rope through a camera, and inputting the tightness state image into a pre-trained image classification model to obtain the tightness state of the steel wire rope;
and when the weight of the material is smaller than a preset threshold value and the steel wire rope is in a loose state, determining that the material reaches the ground.
9. The method of claim 7, wherein automatically unlocking and unlaying the spreader comprises:
the steel wire rope is ejected out of the hook head in a spiral line rotating mode through power, so that rope unwinding is achieved.
10. The method of claim 7, further comprising:
receiving control information transmitted by the somatosensory interaction unit;
Controlling the direction and position of the lifting appliance according to the control information transmitted by the somatosensory interaction unit, and directionally placing the lifting appliance in the direction corresponding to the material;
and when the material reaches the ground, the lifting appliance is controlled to automatically fall to a preset height, and unlocking and rope releasing of the lifting appliance are carried out.
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| CN114751296B (en) | 2022-11-04 |
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