CN115028076A - Remote control system and control method of tower crane - Google Patents
Remote control system and control method of tower crane Download PDFInfo
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- CN115028076A CN115028076A CN202210908821.XA CN202210908821A CN115028076A CN 115028076 A CN115028076 A CN 115028076A CN 202210908821 A CN202210908821 A CN 202210908821A CN 115028076 A CN115028076 A CN 115028076A
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- lifting hook
- coordinate
- module
- tower crane
- lifting
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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
- B66C13/16—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
- B66C13/46—Position indicators for suspended loads or for crane elements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
A remote control system and a control method of a tower crane relate to the technical field of tower cranes, and the adopted technical scheme comprises the tower crane, a center module, a lifting hook monitoring module, at least two mobile terminals and a control module, wherein the tower crane comprises a main body support, a lifting arm, a variable amplitude trolley, a lifting hook and a driving device; the center module is arranged on a rotating central shaft of the crane boom and comprises a positioning module; the lifting hook monitoring module comprises a positioning module arranged on the amplitude variation trolley, a height sensor arranged on the lifting hook and a camera used for acquiring a real-time image of an area near the lifting hook; the mobile terminal comprises a positioning module and an altitude sensor. After the upper computer preliminarily judges the positions of the lifting hook and the mobile terminal, a tower crane driver remotely controls the lifting hook to move through the control module, and fine adjustment is carried out on the lifting hook moving process through the real-time image of the area near the lifting hook shot by the camera, so that the remote control of the tower crane is realized, and the precision is improved.
Description
Technical Field
The invention relates to the technical field of tower cranes, in particular to a remote control system and a remote control method for a tower crane.
Background
The tower crane is the most common hoisting equipment in construction sites, is also called as a tower crane and is used for hoisting construction raw materials such as reinforcing steel bars, wood ridges, concrete, steel pipes and the like for construction. However, as the height of the tower crane is increased, the height of the tower crane is also increased, the time spent by a tower crane driver to get on and off a cab is long, the construction efficiency is affected, the safety risk of high-altitude operation is high, and the personal safety of the tower crane driver is difficult to guarantee especially under severe weather conditions such as high temperature and strong wind.
Disclosure of Invention
The invention provides a remote control system and a remote control method for a tower crane, aiming at the problem that a tower crane needs a driver to climb up a high cab for operation in the prior art.
The invention provides the following technical scheme: the utility model provides a remote control system of tower crane, tower crane include main part support, jib loading boom, become width of cloth dolly, lifting hook and drive arrangement, still include:
the center module is arranged on a rotating central shaft of the crane arm and comprises a positioning module;
the lifting hook monitoring module comprises a positioning module arranged on the amplitude variation trolley, a height sensor arranged on the lifting hook and a camera used for acquiring a real-time image of an area near the lifting hook;
the system comprises at least two mobile terminals, a positioning module and a height sensor, wherein each mobile terminal comprises a positioning module and a height sensor;
the control module comprises a controller, an upper computer and a display, the controller is in signal connection with the driving device, and the controller, the positioning module, the height sensor, the camera, the display and the upper computer are in signal connection.
Preferably, the positioning module is an AGPS module.
Preferably, the height sensor is an air pressure height sensor.
Preferably, the camera is arranged at the bottom of the luffing trolley, and the lens vertically faces the ground.
Preferably, the control module further comprises an automatic control module and a manual control module, the manual control module comprising an input device.
Preferably, the mobile terminal is further provided with a visual reminding device.
Preferably, the safety height sensor is arranged on the main body bracket.
A control method based on the remote control system comprises the following steps:
s1, setting a safety height, and allowing the crane arm to rotate when the lifting hook is higher than the safety height;
s2, activating the two mobile terminals and respectively marking the two mobile terminals as a hoisting point and an unloading point;
s3, the center module, the lifting hook monitoring module and the positioning modules of the two activated mobile terminals respectively feed back the center coordinate, the lifting hook coordinate, the lifting point coordinate and the unloading point coordinate to the upper computer, the upper computer falls the coordinates into a two-dimensional coordinate system, and the upper computer calculates included angles between a connecting line from the center coordinate to the lifting hook coordinate and a connecting line from the center coordinate to the lifting point coordinate and a connecting line from the center coordinate to the unloading point coordinate;
s4, the automatic control module lifts the lifting hook to be higher than the safe height, then the crane boom is rotated until an included angle between a connecting line from a center coordinate to a lifting hook coordinate and a connecting line from the center coordinate to a lifting point coordinate is 0, then the linear distance and the moving direction from the lifting hook coordinate to the lifting point coordinate are calculated, the lifting hook is enabled to move to the lifting point coordinate in a translation mode, then the lifting hook is lowered until the height difference between the lifting hook and the lifting point is N, the manual control module is automatically switched, a tower crane driver controls the lifting hook to continue to descend through an image fed back to a display through a camera, and loading is started until the height difference between the lifting hook and the lifting point is 0;
and S5, after loading is finished, the automatic control module lifts the lifting hook to be higher than the safety height, then the crane boom is rotated until an included angle between a connecting line from a center coordinate to a lifting hook coordinate and a connecting line from the center coordinate to an unloading point coordinate is 0, then the linear distance and the moving direction from the lifting hook coordinate to the unloading point coordinate are calculated, the lifting hook is enabled to be translated to the unloading point coordinate, then the lifting hook is lowered until the height difference between the lifting hook and the unloading point is N, the automatic control module is automatically switched to the manual control module, a tower crane driver controls the lifting hook to continue to descend manually through an image fed back to a display by the camera until the height difference between the lifting hook and the unloading point is 0, and unloading is finished.
Preferably, the safety height is a safety height fed back by a safety height sensor.
Preferably, in steps S4 and S5, N ≧ 5 m.
The beneficial effects of the invention are: after the host computer makes preliminary judgement to lifting hook, mobile terminal's position according to the data that orientation module and height sensor provided, the tower crane driver passes through control module remote control lifting hook according to angle, distance and altitude data and removes to the real-time image in the near region of lifting hook that shoots with the camera is finely tuned to lifting hook moving process, thereby realizes the remote control of tower crane, and improves the precision.
Drawings
Fig. 1 is a schematic diagram of connection of modules according to an embodiment of the present invention.
FIG. 2 is a schematic diagram of a tower crane in the prior art.
Reference numerals: 1-main body support, 2-crane boom, 3-amplitude variation trolley and 4-lifting hook.
Detailed Description
The embodiments of the present invention will be described in more detail with reference to the accompanying drawings and reference numerals, so that those skilled in the art can implement the embodiments of the present invention after studying the specification. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides a remote control system of a tower crane, which comprises the tower crane, a center module, a lifting hook monitoring module, at least two mobile terminals and a control module. The tower crane comprises a main body support 1, a crane boom 2, an amplitude variation trolley 3, a lifting hook 4 and a driving device, wherein as shown in figure 2, the crane boom 2 is rotatably connected with the main body support 1, the amplitude variation trolley 3 is slidably connected on the crane boom 2, and the driving device drives the amplitude variation trolley 3 to reciprocate to transport articles carried by the lifting hook 4.
The center module is arranged on a rotating central shaft of the crane boom 2 and comprises a positioning module which is mainly used for positioning longitude and latitude coordinates of the rotating center of the crane boom 2. The lifting hook monitoring module comprises a positioning module, a height sensor and a camera, wherein the height sensor is arranged on the lifting hook; the positioning module is used for acquiring the current longitude and latitude coordinates of the lifting hook, and can be arranged on the amplitude-variable trolley 3 to acquire the coordinates of the lifting hook due to the fact that the projections of the amplitude-variable trolley 3 and the lifting hook 4 in the vertical direction are overlapped; the height sensor is used for measuring the current height of the lifting hook; the camera is used for acquireing the image of the near region of lifting hook, can set up on becoming width of cloth dolly 3, from the top down vertically shoots the lifting hook, and/or sets up in the well upper portion of jib loading boom 2 or main part support 1 to the lifting hook 4 is shot to the visual angle of slope, and the tower crane driver of being convenient for makes the judgement. The quantity of mobile terminal is two at least, including orientation module and height sensor, mobile terminal can be handed to the constructor, measures hoisting point and the longitude and latitude coordinate and the height of unloading point, and further, mobile terminal still is provided with the wireless communication chip, is convenient for give the host computer with data transfer, and each mobile terminal all has unrepeated identification code, can attach this identification code when sending relevant data, makes things convenient for the host computer to recognize. The control module can be arranged in a main control room on the ground and comprises a controller, an upper computer and a display, wherein the upper computer can be in signal connection with the positioning module, the height sensor and the camera at each position through wired or wireless communication to receive positioning, height and image data; the controller is in signal connection with the driving device and the upper computer and is used for controlling the tower crane to operate; the display is in signal connection with the upper computer, and the upper computer processes and then displays data and images on the display screen for reference of a tower crane driver.
Specifically, the positioning module can adopt a technology similar to a mobile phone positioning system or a vehicle navigation system to acquire longitude and latitude coordinates of a boom rotation center, a lifting hook and a mobile terminal, the upper computer enables the coordinates to fall into a two-dimensional coordinate system, a boom rotation center coordinate (hereinafter referred to as a center coordinate) is taken as an original point, the center coordinate is respectively connected with the lifting hook coordinate and the mobile terminal coordinate, and an included angle is measured, the included angle is an angle which is required to rotate when the boom 2 rotates from the current position to the position where the mobile terminal is located, and when the center coordinate is collinear with the lifting hook coordinate and the mobile terminal coordinate, a linear distance between the lifting hook coordinate and the mobile terminal coordinate is a distance which the luffing trolley 3 needs to move. Altitude sensor can adopt atmospheric pressure altitude sensor, calculates the altitude through atmospheric pressure and temperature, because the geographical position of lifting hook, mobile terminal is comparatively close, therefore atmospheric pressure altitude sensor can neglect because of the error that atmospheric pressure and temperature difference produced, and after altitude sensor measured and obtained the lifting hook and mobile terminal's altitude, the host computer calculates the difference between the two, can obtain the relative height that the lifting hook moved to mobile terminal position from current height down.
Among the prior art big dipper navigation system can promote the positioning accuracy of civilian cell-phone to 1.2 m, for further eliminating the error, the host computer is according to the data that orientation module and height sensor provided to the lifting hook, after mobile terminal's position was made preliminary judgement, the tower crane driver is according to the angle, the lifting hook removal is controlled through control module remote control to distance and height data, and the lifting hook moving process is finely tuned to the near regional real-time image of lifting hook that shoots with the camera, thereby realize the remote control of tower crane, and improve the precision.
Preferably, the positioning module is an AGPS module, has high positioning accuracy, and has a wireless communication function.
Preferably, the height sensor is an air pressure height sensor.
Preferably, the camera is arranged at the bottom of the luffing trolley, and the lens vertically faces the ground.
Preferably, the control module comprises an automatic control module and a manual control module, the manual control module comprising an input device. The upper computer can automatically control the driving device to drive the lifting hook to move through the automatic control module according to the angle, distance and height data, so that the burden of a tower crane driver is relieved; in order to avoid safety problems, a manual control module is further arranged, a tower crane driver monitors the operation condition of the lifting hook according to a real-time image shot by the camera, so that the lifting hook can be switched to the manual control module to be controlled at any time, and the input device comprises a rocker, a key and the like.
Preferably, the mobile terminal is further provided with a visual reminding device, and specifically, the visual reminding device comprises a lamp light with a specific color and/or flickering at a specific frequency.
Preferably, the safety height sensor is arranged on the main body support, so that obstacles can be avoided conveniently. Specifically, the safety height sensor may be disposed on the main body support 1, and the installation height of the safety height sensor is higher than the sum of the highest height of the obstacle in the hoisting range and the height empirical value of the hoisted object, where the obstacle is generally a building currently being constructed, and the height empirical value of the hoisted object is the limit height of the hoisted object generally in the construction process, which is obtained according to the construction experience. In the construction process, along with the increase of building, main part support 1 can increase the standard festival in order to promote the height, and safe altitude sensor's mounted position also improves thereupon, makes it be higher than the barrier all the time. The safety height sensor transmits the safety height to the upper computer, and the crane arm is allowed to execute the rotating operation only when the upper computer judges that the lifting hook is higher than the height of the safety height sensor.
The invention also provides a control method based on the remote control module, which comprises the following steps:
s1, setting a safety height, and allowing the crane arm to rotate when the lifting hook is higher than the safety height; the safety height is fed back by the safety height sensor, and the installation height of the safety height sensor is higher than the sum of the highest height of the barrier in the hoisting range and the height empirical value of the hoisted object.
And S2, activating the two mobile terminals and respectively marking the two mobile terminals as a hoisting point and an unloading point. Constructor can hand mobile terminal and be in hoist and mount position and uninstallation position respectively, when needing hoist and mount, initiatively activates mobile terminal, sends positional information, height information and identification code and gives the host computer, makes things convenient for the tower crane driver to pass through the host computer with its mark.
And S3, feeding a central coordinate (boom rotation central coordinate), a lifting hook coordinate, a lifting point coordinate and an unloading point coordinate back to an upper computer by the central module, the lifting hook monitoring module and the positioning modules of the two activated mobile terminals respectively, enabling the coordinates to fall into a two-dimensional coordinate system by the upper computer, and calculating included angles between a connecting line from the central coordinate to the lifting hook coordinate and a connecting line from the central coordinate to the lifting point coordinate and between the connecting line from the central coordinate to the unloading point coordinate respectively. The center coordinate, the lifting hook coordinate, the lifting point coordinate and the unloading point coordinate are longitude and latitude coordinates, and can be regarded as a plane coordinate due to the close distance between the coordinates.
S4, the automatic control module lifts the lifting hook to a height higher than the safety height, then the crane boom is rotated until the included angle between the connecting line from the center coordinate to the lifting hook coordinate and the connecting line from the center coordinate to the lifting point coordinate is 0, then the linear distance and the moving direction from the lifting hook coordinate to the lifting point coordinate are calculated, the lifting hook is enabled to move to the lifting point coordinate in a translation mode, then the lifting hook is lowered until the height difference between the lifting hook and the lifting point is N, the manual control module is automatically switched, a crane driver controls the lifting hook to continue to descend manually through an image fed back to a display through a camera until the height difference between the lifting hook and the lifting point is 0, and then the lifted object begins to be loaded.
And S5, after loading is finished, the automatic control module lifts the lifting hook to a height higher than the safety height, then rotates the crane boom until an included angle between a connecting line from a center coordinate to a lifting hook coordinate and a connecting line from the center coordinate to an unloading point coordinate is 0, then calculates a linear distance and a moving direction between the lifting hook coordinate and the unloading point coordinate to enable the lifting hook to be translated to the unloading point coordinate, then lowers the lifting hook until the height difference between the lifting hook and the unloading point is N, automatically switches to the manual control module, and manually controls the lifting hook to continue to descend until the height difference between the lifting hook and the unloading point is 0 by a tower crane driver through an image fed back to a display by a camera, so that unloading is finished.
Preferably, the safety height is a safety height fed back by the safety height sensor.
Preferably, in steps S4 and S5, N ≧ 5 m.
The foregoing is a detailed description of one or more embodiments of the invention, which is set forth in more detail and is not intended to limit the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the spirit of the invention, which falls within the scope of the invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The utility model provides a remote control system of tower crane, tower crane include main part support, jib loading boom, change width of cloth dolly, lifting hook and drive arrangement, its characterized in that: also comprises the following steps of (1) preparing,
the center module is arranged on a rotating central shaft of the crane arm and comprises a positioning module;
the lifting hook monitoring module comprises a positioning module arranged on the amplitude variation trolley, a height sensor arranged on the lifting hook and a camera used for acquiring a real-time image of an area near the lifting hook;
the system comprises at least two mobile terminals, a positioning module and a height sensor, wherein each mobile terminal comprises a positioning module and a height sensor;
the control module comprises a controller, an upper computer and a display, the controller is in signal connection with the driving device, and the controller, the positioning module, the height sensor, the camera, the display and the upper computer are in signal connection.
2. The remote control system of the tower crane according to claim 1, wherein: the positioning module is an AGPS module.
3. The remote control system of the tower crane according to claim 1, wherein: the height sensor is an air pressure height sensor.
4. The remote control system of the tower crane according to claim 1, wherein: the camera is arranged at the bottom of the amplitude variation trolley, and the lens vertically faces the ground.
5. The remote control system of the tower crane according to claim 1, wherein: the control module further comprises an automatic control module and a manual control module, and the manual control module comprises an input device.
6. The remote control system of the tower crane according to claim 1, wherein: the mobile terminal is also provided with a visual reminding device.
7. The remote control system of the tower crane according to claim 1, wherein: the safety height sensor is mounted on the main body bracket.
8. A control method based on the remote control system of any one of claims 1 to 7, characterized in that: comprises the following steps of (a) carrying out,
s1, setting a safety height, and allowing the crane arm to rotate when the lifting hook is higher than the safety height;
s2, activating the two mobile terminals and respectively marking the two mobile terminals as a hoisting point and an unloading point;
s3, the central module, the lifting hook monitoring module and the positioning modules of the two activated mobile terminals respectively feed back the central coordinate, the lifting hook coordinate, the lifting point coordinate and the unloading point coordinate to the upper computer, the upper computer falls the coordinates into a two-dimensional coordinate system, and the upper computer calculates included angles between a connecting line from the central coordinate to the lifting hook coordinate and a connecting line from the central coordinate to the lifting point coordinate and between the connecting line from the central coordinate to the unloading point coordinate;
s4, the automatic control module lifts the lifting hook to be higher than the safe height, then the crane boom is rotated until an included angle between a connecting line from a center coordinate to a lifting hook coordinate and a connecting line from the center coordinate to a lifting point coordinate is 0, then the linear distance and the moving direction from the lifting hook coordinate to the lifting point coordinate are calculated, the lifting hook is enabled to move to the lifting point coordinate in a translation mode, then the lifting hook is lowered until the height difference between the lifting hook and the lifting point is N, the manual control module is automatically switched, a tower crane driver controls the lifting hook to continue to descend through an image fed back to a display through a camera, and loading is started until the height difference between the lifting hook and the lifting point is 0;
s5, after loading is finished, the automatic control module lifts the lifting hook to a height higher than the safety height, the crane boom is rotated until an included angle between a connecting line from a center coordinate to a lifting hook coordinate and a connecting line from the center coordinate to an unloading point coordinate is 0, the linear distance and the moving direction from the lifting hook coordinate to the unloading point coordinate are calculated to enable the lifting hook to move to the unloading point coordinate in a translation mode, the lifting hook is lowered until the height difference between the lifting hook and the unloading point is N, the manual control module is automatically switched, a tower crane driver controls the lifting hook to continue to descend manually through an image fed back to a display through a camera until the height difference between the lifting hook and the unloading point is 0, and unloading is finished.
9. A control method according to claim 8, characterized in that: the safety height is fed back by the safety height sensor.
10. A control method according to claim 8, characterized by: in steps S4 and S5, N ≧ 5 m.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210908821.XA CN115028076A (en) | 2022-07-29 | 2022-07-29 | Remote control system and control method of tower crane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210908821.XA CN115028076A (en) | 2022-07-29 | 2022-07-29 | Remote control system and control method of tower crane |
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| CN115028076A true CN115028076A (en) | 2022-09-09 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115258971A (en) * | 2022-09-27 | 2022-11-01 | 湖南中航起落架维修工程有限公司 | Hoisting crane for maintenance |
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2022
- 2022-07-29 CN CN202210908821.XA patent/CN115028076A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115258971A (en) * | 2022-09-27 | 2022-11-01 | 湖南中航起落架维修工程有限公司 | Hoisting crane for maintenance |
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