CN114803864B - Positioning device for tower crane, tower crane control device and control method - Google Patents
Positioning device for tower crane, tower crane control device and control method Download PDFInfo
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- CN114803864B CN114803864B CN202210721640.6A CN202210721640A CN114803864B CN 114803864 B CN114803864 B CN 114803864B CN 202210721640 A CN202210721640 A CN 202210721640A CN 114803864 B CN114803864 B CN 114803864B
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000007613 environmental effect Effects 0.000 claims description 10
- 230000003993 interaction Effects 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract description 2
- 238000007599 discharging Methods 0.000 abstract 1
- 230000005540 biological transmission Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
- B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/52—Details of compartments for driving engines or motors or of operator's stands or cabins
Abstract
The invention discloses a positioning device for a tower crane, a tower crane control device and a tower crane control method, belongs to the field of construction machinery, and aims to solve the problems that an existing positioner needs to be operated by a special person, cannot position the placing direction of materials, and has potential safety hazards in the blanking process. The invention relates to a positioning device for a tower crane, which comprises: a box body; the controller is arranged in the box body and is in communication connection with a control system of the tower crane; the sensing module is arranged on the box body and provided with a direction positioning reference, the sensing module is in communication connection with the controller, and can sense the deflection angle of the direction positioning reference when the sensing module faces different directions, and transmit the position information and the deflection angle information of the box body to the controller; and the controller sends the position information and the deflection angle information to a control system of the tower crane through a communication module. The positioning device can be operated by only discharging workers, is simple to operate and saves labor cost.
Description
Technical Field
The invention relates to the field of construction machinery, in particular to a positioning device for a tower crane, a tower crane control device and a tower crane control method.
Background
When present tower machine lifting hook hoist and mount material was put in downwards, the position of putting in the material was fixed a position to the signal person, realized the blanking, needed the special messenger to operate, brought inconvenience, and the handheld locator of operating personnel can only fix a position the blanking position, can not fix a position the orientation of material, when the material was close the blanking position, needed the artificial orientation of putting of going to adjust the material, and the tower machine has certain vision blind area in blanking process, has the potential safety hazard.
Disclosure of Invention
The invention aims to at least solve the problems that the existing positioner needs a special person to operate, the positioner cannot position the placing direction of materials, and potential safety hazards exist in the blanking process.
The purpose is realized by the following technical scheme:
the first aspect of the invention provides a positioning device for a tower crane, which comprises:
a box body;
the controller is arranged in the box body and is in communication connection with a control system of the tower crane; the sensing module is arranged on the box body and provided with a direction positioning reference, the sensing module is in communication connection with the controller and is used for determining the position of the box body, and the sensing module can sense the deflection angle of the box body relative to the direction positioning reference in different directions and transmits the position information and the deflection angle information of the box body to the controller;
and the controller sends the position information and the deflection angle information to a control system of the tower crane through a communication module so as to determine the blanking position and the material placing direction of the tower crane.
According to the positioning device for the tower crane, the rotating direction and the position of the box body are sensed through the sensing module, the placing position of the box body near the blanking position is the placing position during blanking, the position of the box body is the offset distance of the blanking position, the position and the rotating direction of the box body are transmitted to the controller, and the controller is communicated with a control system of the tower crane to determine the actual blanking position and the actual material placing direction and adjust the lifting hook of the tower crane to move to the specified position for blanking operation. Compared with the prior art, the positioning device only needs to be operated by the unloading worker, the operation is simple, the labor cost is saved, the positioning device can be positioned according to the placing direction of the box body in the unloading process, the accurate positioning in the blanking process is realized, the blanking accuracy is further ensured, and the hidden danger caused by manually adjusting the material position is avoided.
In addition, the positioning device for the tower crane, provided by the invention, can also have the following additional technical characteristics:
in some embodiments of the present invention, the sensing module includes a positioning module and an attitude sensor respectively disposed on the box body; the positioning module and the attitude sensor are respectively in communication connection with the controller, the positioning module is used for determining the position coordinates of the box body, and the attitude sensor is used for determining the deflection angle information.
In some embodiments of the present invention, the sensing module further includes an image collecting module, the image collecting module is in communication connection with the controller, and is configured to collect environmental information of a blanking position, and transmit the environmental information to the controller, and the controller sends the environmental information to the control system to monitor a blanking scene.
In some embodiments of the present invention, the positioning module comprises at least one of an RTK positioning module, a laser positioning module, and a UWB positioning module.
In some embodiments of the invention, the image acquisition module comprises a camera.
In some embodiments of the invention, the positioning device further comprises a voice module arranged on the box body, the voice module comprises a loudspeaker and a microphone, and the loudspeaker and the microphone are in communication connection with the controller and are used for talkback with a driver of the tower crane.
In some embodiments of the invention, an adjusting button for adjusting the position of the lifting hook on the tower crane is arranged on the box body.
In some embodiments of the invention, the case is provided with a touch screen.
The invention provides a tower crane control device in a second aspect, which comprises a tower crane controller and the positioning device for the tower crane in the first aspect, wherein the positioning device for the tower crane is in communication connection with the tower crane controller.
The third aspect of the present invention provides a tower crane control method applied to the tower crane control device of the second aspect, wherein a hook on the tower crane rotates through an electrically driven rotating assembly, and the control method comprises:
acquiring position information and deflection angle information of the positioning device, and acquiring image information of the positioning device;
determining the blanking position of the tower crane based on the position information, and determining the material placing direction on the lifting hook based on the image information and the deflection angle information;
and controlling the lifting hook of the tower crane to move to a set position according to the blanking position, and controlling the electric drive rotation assembly to rotate according to the material placing direction, so that the material on the lifting hook rotates according to a preset direction.
According to the tower crane control method, the mobile positioning device can replace a signal operator, only the nearby unloading personnel are required to perform auxiliary operation, the labor cost is saved, and the personnel operation risk is reduced. The mobile positioning device can help to unload materials and position through functions of accurate positioning, fine adjustment, image acquisition and the like, and can also assist in the unloading process, so that the materials can accurately fall on the preset blanking position.
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 is a schematic view showing the overall structure of an embodiment of a positioning device for a tower crane according to the invention;
FIG. 2 schematically shows a logic block diagram of an embodiment of the tower crane control device of the present invention;
fig. 3 schematically shows a flow chart of the tower crane control method of the invention.
The reference numbers are as follows:
100. a positioning device; 110. a box body; 121. a positioning module; 122. an image acquisition module; 130. a voice module; 131. a microphone; 132. a speaker; 140. an adjustment button; 150. a touch screen; 200. a tower crane controller.
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 in description, the relationship of one element or feature to another element or feature as illustrated in the figures may be described herein using spatially relative terms, such as "inner", "outer", "lower", "below", "upper", "over", and the like. 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 … …" may include both an up and down orientation. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
According to an embodiment of the present invention, a positioning device 100 for a tower crane is provided, as shown in fig. 1, including a box body 110, a controller and a sensing module; the controller is arranged in the box body 110 and is in communication connection with a control system of the tower crane; the sensing module is arranged on the box body 110 and provided with a direction positioning reference, the sensing module is in communication connection with the controller and is used for determining the position of the box body 110, and the sensing module can sense the deflection angle of the direction positioning reference in different directions and transmit the position information and the deflection angle information of the box body 110 to the controller; the controller sends the position information and the deflection angle information to a control system of the tower crane through the communication module so as to determine the blanking position and the material placing direction of the tower crane.
It is to be understood that the direction positioning reference may use any one of the east, south, west, north, etc. directions on the horizontal plane as the positioning reference.
In one embodiment, the box body 110 is a strip shape, which is convenient for the box body 110 to place materials on the hooks in different directions.
The controller sends the collected position information and deflection angle information of the box body 110 to the tower crane control system, and the tower crane control system determines the blanking position according to the position information of the box body 110 and determines the material placing direction according to the rotating direction of the box body 110.
In an embodiment, the control system of the tower crane may calculate the blanking position according to the position information of the box body 110, that is, the blanking position keeps a set distance from the box body 110, and the actual blanking position is determined by the position where the box body 110 is placed by the operator. The control system of the tower crane can also adjust the rotation angle of the lifting hook on the tower crane according to the placing angle of the box body 110, so that the lifting hook can be adjusted according to the placing angle of the box body 110.
Specifically, the sensing module may include a positioning module 121 and an attitude sensor respectively disposed on the box body 110, the positioning module 121 and the attitude sensor are respectively in communication connection with the controller, the positioning module 121 is configured to position the box body 110, so as to obtain a position coordinate of the box body 110, so as to determine a blanking position of the tower crane, and the attitude sensor is configured to orient the positioning device (a placement position of the box body 110), so as to determine a material placement direction.
In some embodiments, the positioning module 121 may employ at least one of an RTK positioning module 121, a laser positioning module 121, and a UWB positioning module 121. Specifically, at least one of GPS positioning, laser positioning, beidou positioning, and image recognition positioning may be used. For example, when positioning is performed by using the RTK positioning module 121, one RTK positioning module 121 may be respectively disposed on two opposite sides of the case 110, centimeter-level positioning may be performed by using a differential system, and the geomagnetic sensor is integrated inside the RTK positioning module, so that longitude and latitude directions and angles can be recognized, and the resolution is 0.1 degree. In addition, the UWB positioning module 121 can be used to perform auxiliary positioning, and three base stations transmit signals to the UWB positioning module 121 to drive the coordinates of the box body 110X, Y, Z in three directions. When the satellite positioning (positioning by the RTK positioning module 121) is abnormal, the UWB positioning module 121 can be used to assist in positioning, so as to ensure that the positioning apparatus 100 can work normally.
The sensing module can further comprise an image acquisition module 122, the image acquisition module 122 is in communication connection with the controller and is used for acquiring the environmental information of the blanking position and transmitting the environmental information to the controller, and the controller sends the environmental information to the control system to monitor the blanking scene, so that the position of the lifting hook can be adjusted conveniently in the blanking process. The image acquisition module 122 can also identify whether a person is in the blanking position, so as to facilitate safety prompting. Specifically, the image capturing module 122 includes a camera.
In an embodiment, the positioning device 100 further includes a voice module 130 disposed on the box body 110, the voice module 130 includes a speaker 132 and a microphone 131, and the speaker 132 and the microphone 131 are in communication connection with the controller for communicating with a driver of the tower crane. The blanking position is monitored through the image acquisition module 122, and the voice module 130 is combined, so that the position of the lifting hook can be finely adjusted through voice conversation with a tower crane driver according to environmental factors of the blanking position, and the accuracy of the blanking position is ensured.
Specifically, the box body 110 is provided with an adjusting button 140 for adjusting the position of a hook on the tower crane. When the lifting hook lifts the material to the upper part of the blanking position, the position of the lifting hook is adjusted through the fine adjustment function of the adjusting button 140, and the accuracy of the blanking position is ensured. The adjustment button 140 has four keys of "up", "down", "left", and "right".
In an embodiment, the box body 110 is provided with the touch screen 150 for human-computer interaction, and the irradiation angle of the image acquisition device can be adjusted, so that the image acquisition device can irradiate the surrounding scenes of the blanking position, and meanwhile, the position of the tower crane hook can be finely adjusted, thereby facilitating the blanking operation of ground personnel, and the touch screen 150 can be further provided with other control parameters for adjustment. For example, the operating status of the hook may be displayed on the touch screen 150, with red indicating stopped operation and green indicating operating. The blanking position can also be set through the touch screen 150, that is, the box body 110 can keep a set distance from the blanking position, and the set distance can be set on the touch screen 150. For example, the distance between the box 110 and the blanking position can be set to 1-3m, and when the material is 3-16m away from the blanking position, the position of the hook can be adjusted to the blanking position by the adjusting button 140.
In an embodiment, the communication module may adopt wide band channels of Lora and wireless 5G + networks of 3 different frequency bands to form a communication network, and the communication module may ensure normal transmission and interaction of data and images.
A power supply module is further disposed in the box body 110 of the positioning device 100 to supply power to each component in the box body 110.
In an embodiment, the box body 110 is further provided with an emergency stop button and a switch, when an accident or an emergency occurs, the controller sends a signal to a control system of the tower crane to stop the movement of the hook by pressing the emergency stop button, and the switch is used for controlling the opening and closing of the positioning device 100.
According to an embodiment of the present invention, a tower crane control device is provided, as shown in fig. 2, including a tower crane controller 200 and the positioning device 100 for a tower crane, the positioning device 100 for a tower crane is in communication connection with the tower crane controller 200.
In one embodiment, the positioning device 100 and the tower crane controller 200 may be connected in a wireless communication manner. The blanking position is located through the locating device 100, information is sent to the tower crane controller 200, the tower crane controller 200 adjusts the lifting hook to be close to the blanking position according to the received locating information, the distance between the lifting hook and the blanking position can be calculated according to the locating information, and each motor on the tower crane is controlled to rotate, so that the lifting hook moves and swings on the tower crane to be close to the blanking position, ground personnel communicate with the tower crane controller 200 through the locating device 100, the ground personnel manually adjust the adjusting button 140 of the locating device 100, and materials on the lifting hook can accurately fall into a preset position.
According to an embodiment of the present invention, a tower crane control method is provided, where the control method is applied to the control device, and as shown in fig. 3, the control method specifically includes:
s1, acquiring position information and deflection angle information of the positioning device 100, and acquiring image information of the positioning device 100.
The sensing module on the positioning device 100 is used to position the geographical location (longitude, latitude and height) of the positioning device 100 and the rotation direction of the box 110. The camera is arranged on the lifting hook, so that the image of the positioning device 100 can be shot, the positioning device 100 and the image information around the positioning device are obtained, and the safety in the blanking process is ensured.
S2, determining the blanking position of the tower crane based on the position information, and determining the material placing direction of the tower crane based on the image information and the deflection angle information.
The control system can calculate the distance between the lifting hook and the blanking position according to the blanking position, and plan the moving path of the lifting hook so as to ensure the safety.
In an embodiment, the placing direction of the box 110 on the positioning device 100 can be used as the placing direction of the material, that is, the hook is controlled to rotate by placing the box 110 so that the placing direction of the material is consistent with the placing direction of the box 110. Therefore, the accuracy of material blanking and the convenience of operation can be further improved. And then combining the image shot by the camera on the lifting hook, extracting the image, combining the placing direction information of the box body 110 collected by the sensing module to comprehensively judge the placing direction of the box body 110, and controlling the lifting hook to rotate so that the lifting hook material is placed according to the preset direction.
The whole process of the blanking process can be monitored without dead angles through the camera on the lifting hook and the image acquisition module 121, and the safety in the blanking process is ensured.
In one embodiment, the tower crane is provided with a lifting hook assembly, the lifting hook assembly comprises a lifting hook and an electric drive rotation assembly, the lifting hook is rotatably connected with the electric drive rotation assembly, the electric drive rotation assembly is connected with a rope on the tower crane through a pulley, and the tower crane can control the rope to enable the lifting hook assembly to swing and move up and down.
In one embodiment, the electrically driven rotating assembly may include a motor and a frame body, the lifting hook is rotatably disposed on the frame body, the motor is in transmission connection with the lifting hook and is used for driving the lifting hook to rotate, a pulley is disposed on the frame body, and the tower crane passes through the rope to pass around the pulley.
In an embodiment, the lifting hook can be provided with an attitude sensor, a positioning reference of the attitude sensor on the lifting hook can be the same as a direction positioning reference on the sensing module, and after the tower crane controller acquires the deflection angle information, the tower crane controller can drive the electric drive assembly on the lifting hook to adjust a rotation angle of the lifting hook, so that the orientation of the material on the lifting hook is the same as the placing orientation of the positioning device.
And S3, controlling the lifting hook of the tower crane to move to a set position according to the blanking position, and controlling the electric drive rotation assembly to rotate according to the material placing direction, so that the material on the lifting hook rotates according to a preset direction.
In one embodiment, the setting position and the blanking position are arranged at a distance, so that the rotating angle of the moving position of the lifting hook can be adjusted in time according to the material position and the material position on the lifting hook, and the material can be accurately thrown to the preset position.
The motor on the concrete accessible control tower machine rotates to adjust the shift position of lifting hook, and adjust the rotation angle that electric drive gyration subassembly rotated the regulation lifting hook.
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. A positioner for tower machine, its characterized in that includes:
the box body is provided with an adjusting button for adjusting the position of a lifting hook on the tower crane, and when the lifting hook lifts materials above a blanking position, the position of the lifting hook is adjusted through the fine adjustment function of the adjusting button; the box body is also provided with a touch screen for man-machine interaction and adjustment of the irradiation angle of the image acquisition device, so that the image acquisition device can irradiate scenes around the blanking position and can also finely adjust the position of the lifting hook on the tower crane;
the controller is arranged in the box body and is in communication connection with a control system of the tower crane;
the sensing module is arranged on the box body and provided with a direction positioning reference, the sensing module is in communication connection with the controller and used for determining the position of the box body, and the sensing module can sense a deflection angle relative to the direction positioning reference when the sensing module faces different directions and transmits the position information and the deflection angle information of the box body to the controller;
the controller sends the position information and the deflection angle information to a control system of the tower crane through a communication module, and comprehensively judges the placing direction of the box body according to the image shot by the camera on the lifting hook, the image is extracted, and the placing direction information of the box body collected by the sensing module is combined, so that the blanking position and the material placing direction of the tower crane are determined.
2. The positioning device for the tower crane according to claim 1, wherein the sensing module comprises a positioning module and an attitude sensor which are respectively arranged on the box body; the positioning module and the attitude sensor are respectively in communication connection with the controller, the positioning module is used for determining the position coordinates of the box body, and the attitude sensor is used for determining the deflection angle information.
3. The positioning device for the tower crane according to claim 2, wherein the sensing module further comprises an image acquisition module, the image acquisition module is in communication connection with the controller and is used for acquiring environmental information of a blanking position and transmitting the environmental information to the controller, and the controller sends the environmental information to the control system to monitor a blanking scene.
4. The positioning device for the tower crane according to claim 3, wherein the image acquisition module comprises a camera.
5. The positioning device for the tower crane as claimed in claim 2, wherein the positioning module comprises at least one of an RTK positioning module, a laser positioning module and a UWB positioning module.
6. The positioning device for the tower crane according to claim 1, further comprising a voice module arranged on the box body, wherein the voice module comprises a speaker and a microphone, and the speaker and the microphone are in communication connection with the controller and used for talkback with a driver of the tower crane.
7. The positioning device for the tower crane according to claim 1, wherein an adjusting button for adjusting the position of the lifting hook on the tower crane is arranged on the box body.
8. The positioning device for the tower crane according to claim 1, wherein the box body is provided with a touch screen.
9. A tower crane control device is characterized by comprising a tower crane controller and the positioning device for the tower crane as claimed in any one of claims 1 to 8, wherein the positioning device for the tower crane is in communication connection with the tower crane controller.
10. A tower crane control method applied to the tower crane control device of claim 9, wherein the hook on the tower crane is rotated by an electrically driven slewing assembly, and the control method comprises the following steps:
acquiring position information and deflection angle information of the positioning device, and acquiring image information of the positioning device;
determining the blanking position of the tower crane based on the position information, and determining the material placing direction on the lifting hook based on the image information and the deflection angle information;
and controlling a lifting hook of the tower crane to move to a set position according to the blanking position, and controlling the electric drive rotary assembly to rotate according to the material placing direction, so that the material on the lifting hook rotates according to a preset direction.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210721640.6A CN114803864B (en) | 2022-06-24 | 2022-06-24 | Positioning device for tower crane, tower crane control device and control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210721640.6A CN114803864B (en) | 2022-06-24 | 2022-06-24 | Positioning device for tower crane, tower crane control device and control method |
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| CN114803864B true CN114803864B (en) | 2022-11-04 |
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| US4070926A (en) * | 1975-12-22 | 1978-01-31 | Twin Disc, Incorporated | Swing control for crane |
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| CN114604759B (en) * | 2022-01-24 | 2023-07-18 | 杭州大杰智能传动科技有限公司 | Tower crane with guide structure and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114604766A (en) * | 2022-01-24 | 2022-06-10 | 杭州大杰智能传动科技有限公司 | Material stacking space image recognition analysis method and device for intelligent tower crane |
| CN114604763A (en) * | 2022-01-24 | 2022-06-10 | 杭州大杰智能传动科技有限公司 | Electromagnetic positioning device and method for intelligent tower crane hook guide |
| CN114212688A (en) * | 2022-02-22 | 2022-03-22 | 杭州未名信科科技有限公司 | Motion control method and device of intelligent tower crane |
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