CN114803858A - Intelligent tower crane body feeling control system and intelligent tower crane body feeling control method - Google Patents

Intelligent tower crane body feeling control system and intelligent tower crane body feeling control method Download PDF

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Publication number
CN114803858A
CN114803858A CN202210721838.4A CN202210721838A CN114803858A CN 114803858 A CN114803858 A CN 114803858A CN 202210721838 A CN202210721838 A CN 202210721838A CN 114803858 A CN114803858 A CN 114803858A
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CN
China
Prior art keywords
tower crane
intelligent
control
monocular display
display glasses
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210721838.4A
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Chinese (zh)
Inventor
赵晓东
陈曦
范杨涛
赵焕
杨硕
黄昊巍
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Advanced Institute of Information Technology AIIT of Peking University
Hangzhou Weiming Information Technology Co Ltd
Original Assignee
Advanced Institute of Information Technology AIIT of Peking University
Hangzhou Weiming Information Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Advanced Institute of Information Technology AIIT of Peking University, Hangzhou Weiming Information Technology Co Ltd filed Critical Advanced Institute of Information Technology AIIT of Peking University
Priority to CN202210721838.4A priority Critical patent/CN114803858A/en
Publication of CN114803858A publication Critical patent/CN114803858A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • 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
    • B66C13/52—Details of compartments for driving engines or motors or of operator's stands or cabins
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
    • H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
    • H04B1/3827—Portable transceivers
    • H04B1/3833—Hand-held transceivers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C2201/00—Transmission systems of control signals via wireless link
    • G08C2201/90—Additional features
    • G08C2201/93—Remote control using other portable devices, e.g. mobile phone, PDA, laptop

Abstract

The invention provides an intelligent tower crane somatosensory control system, which comprises: the system comprises monocular display glasses, an image collector, a control rod and an intelligent processor, wherein the monocular display glasses are provided with attitude sensors for acquiring attitude sensing signals; the image collector is arranged on the lifting hook and used for collecting image data on the lifting hook and transmitting the image data to the monocular display glasses; the control rod is provided with a function key integration device for generating a control signal. According to the invention, the image data on the lifting hook is transmitted to the monocular display glasses through the image collector, so that the positions of the front, the back, the left, the right and the lower parts of the lifting hook can be more clearly determined, the attitude controller acquires an attitude sensing signal and transmits the attitude sensing signal to the intelligent processor for controlling the rotation of the tower crane and the front and back movement of the amplitude variable trolley, and the control rod transmits a control signal to the intelligent processor for controlling the lifting hook to lift and angle.

Description

Intelligent tower crane body feeling control system and intelligent tower crane body feeling control method
Technical Field
The invention belongs to the technical field of tower cranes, and particularly relates to a tower crane control method and a tower crane control system.
Background
In the prior art, a tower crane driver cannot accurately master the position relation between a material to be conveyed and a lifting hook, one hand is needed to operate an operating rod to control the rotation of the tower crane and the movement of a variable-amplitude trolley when the tower crane is controlled, the other hand is needed to operate a lifting hook lifting rod, the lifting hook can not be accurately controlled to be lowered to a target point in such an operation mode, and the efficiency is low.
Disclosure of Invention
The invention aims to at least solve the problem that the lowering point of a lifting hook cannot be accurately controlled. The purpose is realized by the following technical scheme:
the invention provides an intelligent tower crane somatosensory control system in a first aspect, which comprises:
the monocular display glasses are provided with attitude sensors and used for acquiring attitude sensing signals;
the image collector is arranged on the lifting hook and used for collecting image data on the lifting hook and transmitting the image data to the monocular display glasses;
the control rod is provided with a function key integration device for generating a control signal and an enable key for controlling the switch of the monocular display glasses;
and the intelligent processor is used for receiving and processing the attitude sensing signal, the control signal and the state feedback signal of the tower crane.
According to the intelligent tower crane body feeling control system, image data on the lifting hook is transmitted to the monocular display glasses through the image collector, so that the front, back, left, right and lower positions of the lifting hook can be determined more clearly, the attitude sensor on the monocular display glasses acquires an attitude sensing signal and transmits the attitude sensing signal to the intelligent processor to control the tower crane to rotate and the amplitude trolley to move back and forth, and the control rod transmits a control signal to the intelligent processor to control the lifting and the angle of the lifting hook, so that the tower crane and the lifting hook do not need to be controlled by two hands respectively, and a tower crane driver can control the lifting hook more conveniently, and the accuracy of lowering the lifting hook is further improved.
In addition, the intelligent tower crane somatosensory control system provided by the invention can also have the following additional technical characteristics:
in some embodiments of the present invention, a microprocessor is disposed inside the control rod, and the microprocessor can be in communication connection with the intelligent processor within a certain distance.
In some embodiments of the present invention, the monocular display glasses are provided with a communication module, and the communication module can be in communication connection with the microprocessor within a certain distance range.
In some embodiments of the invention, the top end of the control rod is provided with a rocker for controlling the lifting and the angular direction of the hook.
In some embodiments of the invention, the top end of the control stick is provided with a microphone and a speaker.
In some embodiments of the invention, the intelligent tower crane somatosensory control system further comprises at least one camera.
In some embodiments of the present invention, the function key integration apparatus includes an enable key, a start key, an unlock key, and a delim key.
The second aspect of the invention provides an intelligent tower crane body feeling control method, which is applied to the intelligent tower crane body feeling control system and comprises the following steps:
s1: operating the control rod to open the monocular display glasses;
s2: collecting image data on a lifting hook;
s3: the intelligent processor judges the material state according to the acquired image data and feeds the material state back to the monocular display glasses;
s4: and adjusting the head posture and/or operating the control lever to control the tower crane to operate according to the image data displayed by the monocular display glasses and the judgment result.
In addition, the intelligent tower crane somatosensory control method provided by the invention can also have the following additional technical characteristics:
furthermore, function keys are integrated on the control rod, and the control rod is controlled by a single hand to control the lifting and the angle of the lifting hook.
Further, in the step S3, the material state is normal operation, deviation from the operation track, or material tilting and shaking.
According to the intelligent tower crane body feeling control method, after a tower crane driver opens the monocular display glasses, the image collector on the lifting hook collects image data on the lifting hook and transmits the image data to the monocular display glasses, the intelligent processor judges the state of a material according to the collected image data and transmits the state of the material to the monocular display glasses, and the tower crane driver adjusts the head posture and operates the control rod to control tower crane operation after obtaining the image data and the state of the material, so that the tower crane driver can control the tower crane driver more conveniently, and the accuracy of lifting hook lowering is further improved.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like parts are designated by like reference numerals throughout the drawings. In the drawings:
fig. 1 schematically shows a schematic configuration of monocular display glasses according to an embodiment of the present invention;
FIG. 2 schematically illustrates a structural view of a control lever according to an embodiment of the present invention;
FIG. 3 schematically illustrates a front view of a control lever according to an embodiment of the present invention;
FIG. 4 schematically illustrates a rear view of a control lever according to an embodiment of the present invention;
FIG. 5 schematically illustrates a top view of a control lever according to an embodiment of the present invention;
fig. 6 schematically shows a schematic structural view of a tower crane according to an embodiment of the invention;
fig. 7 is a flowchart of an intelligent tower crane motion sensing control method in the present invention. .
The reference numbers are as follows:
100 is a tower crane;
10 is monocular display glasses, 11 is a display screen, 12 is a posture sensor, and 13 is a camera;
20 is a control rod, 21 is a function key integrated device, 211 is a call key, 212 is a start key, 213 is an emergency stop key, 214 is an unlock key, 215 is a rope release key, 216 is a planning operation key, 217 is a planning operation stop key, 218 is a hoisting removal point key, 219 is a blanking removal point key, 22 is a rocker, 23 is a charging data port, 24 is a microphone, 25 is a loudspeaker, 26 is a microprocessor, and 27 is an enable key;
30 is a lifting hook, 31 is an image collector, and 32 is a variable amplitude trolley.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless specifically identified as an order of performance. It should also be understood that additional or alternative steps may be used.
Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
For convenience of description, spatially relative terms, such as "inner", "outer", "lower", "below", "upper", "above", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below … …" can include both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
As shown in fig. 1 to 6, according to an embodiment of the present invention, a schematic structural diagram of a motion sensing control system of an intelligent tower crane 100 is provided, including monocular display glasses 10, an image collector 31, a control rod 20 and an intelligent processor, where the image collector 31 is disposed on a hook 30 of the tower crane 100, the image collector 31 transmits image data of front, back, left, right, and lower sides on the hook 30 to the monocular display glasses 10, the monocular display glasses 10 are provided with a posture sensor 12, the posture sensor 12 can acquire a posture sensing signal on the monocular display glasses 10 and transmit the posture sensing signal to the intelligent processor, and the intelligent processor controls the rotation of the tower crane 100 and the front and back movement of the luffing trolley 32 according to the posture sensing signal. The control rod 20 is provided with a function key integration device 21 and an enable key 27, the enable key 27 can control the on-off of the monocular display glasses 10, the function key integration device 21 sends different control signals to the intelligent processor according to different function keys, and the control signals can control the operation of the tower crane 100, particularly the lifting and the angle of the lifting hook 30. The intelligent processor can also automatically adjust the operation state of the tower crane 100 according to the state feedback signal transmitted by the tower crane 100.
Specifically, attitude sensor 12 can set up on the picture frame of monocular display glasses 10, also can set up on the mirror leg to so set up attitude sensor 12 on monocular display glasses 10, the purpose is that the tower machine driver can control tower machine 100's axial rotation and the back-and-forth movement of variable amplitude dolly 32 through the gesture of adjustment head. The axial rotation of tower machine 100 is controlled through the head that rotates about to the tower machine driver, and when tower machine 100 rotated to suitable position, there was certain angle between tower machine driver's head and the health, only need the tower machine driver at this time to rotate the health, let the head just can comfortable operation back. The tower crane driver controls the amplitude variation trolley 32 to move back and forth through swinging up and down, when the amplitude variation trolley moves to a designated position, the driver only needs to operate the control rod 20 to lower the lifting hook 30, and at the moment, the tower crane driver can return to the head to keep a comfortable state. With attitude sensor 12 setting on monocular display glasses 10, can further improve the precision that lifting hook 30 transferred to improve tower machine driver's work efficiency.
It should also be understood that the image collector 31 is disposed on the hook 30 to enable the tower crane driver to more clearly and intuitively determine the position of the hook 30. When the image collector 31 is arranged on the lifting hook 30, the returned image is the image on the lifting hook 30, the positions between the lifting hook 30 and the material lifting point and the position between the material lifting point and the foot drop point can be displayed in a clearing mode, a tower crane driver can watch the returned image data through the monocular display glasses 10, the tower crane driver can move on the sky, and the tower crane driver can lower the lifting hook 30 only by adjusting the head posture to the working point position. The image collector 31 is arranged on the lifting hook 30, so that a tower crane driver can further determine the position of the lifting hook 30, and the lowering accuracy of the lifting hook 30 is further improved.
It should be understood that the driver of the tower crane can control the rotation speed and angle of the tower crane 100 and the forward and backward movement speed of the luffing carriage 32 by controlling the rotation speed and rotation angle of the head.
It should be understood that the control stick 20 is provided with a microprocessor 26 therein, and the microprocessor 26 may be connected to a smart processor in communication therewith to a certain extent. The connection mode of the intelligent processor connected with the microprocessor 26 inside the control rod 20 can be wireless transmission or 5G communication. The intelligent processor may transmit a hazard warning to the microprocessor 26 of the control stick 20. Microprocessor 26 transmits control signal to intelligent processor, and another important function of microprocessor 26 is can make control lever 20 wireless operation, and the tower machine driver just so can hold control lever 20 and remove on the construction site, more is favorable to observing the removal of lifting hook 30 and tower machine 100, further promotes the precision of operation.
It is further understood that the monocular display eyeglasses 10 are provided with a communication module that is communicatively coupled to the microprocessor 26 to a limited extent. The microprocessor 26 transmits the danger signal transmitted by the intelligent processor to the monocular display glasses 10 through the communication module, and a tower driver can predict danger in advance after seeing the danger signal displayed on the monocular display glasses 10, so that the danger in the operation process is prevented.
It should be understood that the top of the control rod 20 is provided with a rocker 22, the function key integration device 21 is combined with the rocker 22 for facilitating the one-hand operation of the tower crane driver, and the rocker 22 is arranged at the top of the control rod 20 for facilitating the lifting and the angle of the hook 30 to be controlled by the thumb of the tower crane driver.
It should be understood that the top end of the control rod 20 is also provided with a microphone 24 and a loudspeaker 25, which is convenient for a tower crane driver to communicate with workers and friends, and solves the dangerous situation that the tower crane driver needs to hold an interphone with one hand and operate with the other hand.
In addition, the top end of the control rod 20 can also be provided with a charging data port 23, and the charging data port 23 can charge the control rod 20.
It is also understood that the control lever 20 is a round lever with the function key integration 21 disposed circumferentially and the rocker 22 disposed on top.
Specifically, the function key integration device 21 includes a talk key 211, a start key 212, an emergency stop key 213, an unlock key 214, a rope release key 215, a hoist release key 218, a blanking key 219, a planning operation key 216, and a planning operation stop key 217. The unlock key 214 is used to unlock the control lever 20 to prevent malfunction. Long press of the unlock key 214 for 3 seconds unlocks the lever 20. By pressing the talk key 211, the tower crane driver can communicate with the colleagues. The start key 212 is used for starting the tower crane 100 to enable the tower crane 100 to work, and the emergency stop key 213 is used for enabling the tower crane 100 to emergency stop working. Typically, the start key 212 is a safe green color and the emergency stop key 213 is a dangerous red color. The lifting point removing key 218 is used for enabling the intelligent processor to control the tower crane 100 to axially rotate and the amplitude-variable trolley 32 to move back and forth to a lifting point, and the blanking point removing key 219 is used for enabling the intelligent processor to control the tower crane 100 to axially rotate and the amplitude-variable trolley 32 to move back and forth to a blanking point. The planning operation key 216 is used for enabling the tower crane 100 to automatically operate according to the route planned by the intelligent processor, and the planning operation stop key 217 is used for enabling a tower crane driver to stop enabling the intelligent processor to control the tower crane 100 when a dangerous condition is found or manual operation is needed. The rope release key 215 is pressed to release the rope and lower the hook 30.
Specifically, the intelligent tower crane 100 somatosensory control system further comprises at least one camera, and the camera can be arranged at any position of the tower crane 100 to assist a tower crane driver in observing an operation area.
It should be further understood that the camera may be a camera mounted in a common location or a camera mounted on the drone. The unmanned aerial vehicle controls the flight track through the intelligent processor to observe the motion direction of the tower crane 100 and the danger possibly encountered.
It should be further understood that, when the number of the cameras is increased, the positions of the tower crane 100 and the hook 30 can be displayed more comprehensively. Specifically, images acquired by the multiple cameras can be transmitted back to the intelligent processor in real time, the intelligent processor is rapidly modeled through 3D modeling software to form a model of the tower crane and a working area, and the monocular display glasses 10 are AR glasses and can present the model to a tower crane driver. The tower machine driver has reached the effect of using AR through monocular display glasses 10, and the tower machine driver transfers lifting hook 30 through attitude sensor 12 and the motion of control lever 20 control tower machine 100. At this moment, the monocular display glasses 10 must have a real-time communication module, so that the motion position of the tower crane 100 in the modeling model can be quickly fed back to a tower crane driver, the error of the angle of the axial rotation of the tower crane 100 caused by time delay is prevented, and potential safety hazards are prevented. When the modeling is completely presented to a tower crane driver, the tower crane driver can clearly see the working scene at the view angle of the emperor, so that the tower crane driver can evaluate the safety parameters of the working environment and judge the danger in time.
Specifically, the plurality of cameras can only simply transmit images, for example, the camera is defined as a camera 1, a camera 2 or a camera 3, when a tower crane driver needs to observe the situation around the camera 1, the image of the camera 1 only needs to be switched to, and when the tower crane driver needs to observe the situation around the camera 2, the image of the camera 2 is switched to. At this time, the monocular display glasses 10 should have an image switching function, so that the operation of a tower crane driver can be facilitated.
It should be understood that the side of the monocular display glasses 10 may also be provided with the camera 13, the position of the camera 13 may be arranged on the frame or the temple, and the best position is arranged on the frame side of the monocular display glasses 10. The camera 13 can record the view angle image of the tower crane driver.
Specifically, the visual angle image of the tower crane driver can be overlapped with the 3D modeling, the position of the tower crane 100 and the position of the tower crane driver are further determined, the modeling precision can be further improved, and the lowering precision of the lifting hook 30 is further improved.
In addition, when the tower crane driver is suddenly ill and cannot control the posture of the tower crane driver, the camera 13 transmits the visual angle image of the tower crane driver back to the intelligent processor, and the intelligent processor judges that the tower crane driver is in the non-behavior ability, the operation of the tower crane driver can be stopped immediately, and the mode is switched to the safety mode.
It is also understood that one side lens of the monocular display eyeglasses 10 is the display screen 11. If both sides of the monocular display glasses 10 are display screens 11, the display screens 11 are not beneficial to observing the actual situation of a tower crane driver, so that one side of the monocular display glasses 10 is the display screen 11 and is used for observing the image transmission data or the 3D model transmitted by the image collector 31 on the lifting hook 30, and the other side of the monocular display glasses 10 is a common lens and is used for observing the actual situation. The common lens can be superposed with the UV mirror, so that direct sunlight is prevented from influencing the viewing angle observed by a driver of the tower crane.
On the other hand, the embodiment of the invention also provides a control method for the 100-body feeling of the intelligent tower crane, and the control method for the 100-body feeling of the intelligent tower crane is applied to the control system for the 100-body feeling of the intelligent tower crane and comprises the following steps:
step S1: operating the control lever 20 to open the monocular display eyeglasses 10; step S2: collecting image data on the hook 30; step S3: the intelligent processor judges the material state according to the acquired image data and feeds the material state back to the monocular display glasses 10; step S4: and adjusting the head posture according to the image data displayed by the monocular display glasses 10 and the judgment result and/or operating the control rod 20 to control the tower crane 100 to work.
It should be understood that the function keys are integrated on the control lever 20, so that the tower crane driver can control the operation of the tower crane 100 and the lifting and the angle of the hook 30 by controlling the control lever 20 with one hand.
In addition, the material state in step S3 may be normal operation, deviation from the operation track, or material tilt and shake. When the tower crane runs in a deviated track or the materials are inclined and shaken, the intelligent processor informs a driver of the tower crane of danger warning through the monocular display glasses 10, and the tower crane driver controls the tower crane 100 to operate by adjusting the head posture and operating the control rod 20.
It is further understood that the slewing speed of the tower crane 100 and the movement speed of the amplitude transformer trolley 32 are controlled by controlling the rotation speed and the rotation angle of the head. Because the head is flexible, the rotation speed of the tower crane 100 and the movement speed of the amplitude variation trolley 32 are conveniently controlled.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. The utility model provides a control system is felt to intelligence tower machine body which characterized in that includes:
the monocular display glasses are provided with attitude sensors and used for acquiring attitude sensing signals;
the image collector is arranged on the lifting hook and used for collecting image data on the lifting hook and transmitting the image data to the monocular display glasses;
the control rod is provided with a function key integration device for generating a control signal and an enable key for controlling the monocular display glasses to be switched on and off;
and the intelligent processor is used for receiving and processing the attitude sensing signal, the control signal and the state feedback signal of the tower crane.
2. The system for somatosensory control of the intelligent tower crane according to claim 1, wherein a microprocessor is arranged in the control rod and can be in communication connection with the intelligent processor within a certain distance range.
3. The intelligent tower crane somatosensory control system according to claim 2, wherein a communication module is arranged on the monocular display glasses, and the communication module can be in communication connection with the microprocessor within a certain distance range.
4. The somatosensory control system of the intelligent tower crane according to claim 1, wherein a rocker is arranged at the top end of the control rod and used for controlling the lifting and falling of the lifting hook and the angle direction.
5. The intelligent tower crane somatosensory control system according to claim 1, wherein a microphone and a loudspeaker are arranged at the top end of the control rod.
6. The intelligent tower crane somatosensory control system according to claim 1, further comprising at least one camera.
7. The intelligent tower crane somatosensory control system according to claim 1, wherein the function key integration device comprises a start key, an unlock key and a rope release key.
8. An intelligent tower crane somatosensory control method applied to the intelligent tower crane somatosensory control system according to any one of claims 1 to 7, characterized by comprising the following steps:
s1: operating the control rod to open the monocular display glasses;
s2: collecting image data on a lifting hook;
s3: the intelligent processor judges the material state according to the acquired image data and feeds the material state back to the monocular display glasses;
s4: and adjusting the head posture and/or operating a control lever to control the tower crane to operate according to the image data displayed by the monocular display glasses and the judgment result.
9. The somatosensory control method of the intelligent tower crane according to claim 8, wherein function keys are integrated on a control rod, and the lifting and the angle of the lifting hook are controlled by controlling the control rod with a single hand.
10. The somatosensory control method for the intelligent tower crane according to claim 8, wherein in the step S3, the material state is normal running, deviation from a running track or inclined shaking of the material.
CN202210721838.4A 2022-06-24 2022-06-24 Intelligent tower crane body feeling control system and intelligent tower crane body feeling control method Pending CN114803858A (en)

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Citations (7)

* Cited by examiner, † Cited by third party
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