CN115108470A - Redundancy control system and method applied to intelligent tower crane - Google Patents
Redundancy control system and method applied to intelligent tower crane Download PDFInfo
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- CN115108470A CN115108470A CN202211036607.6A CN202211036607A CN115108470A CN 115108470 A CN115108470 A CN 115108470A CN 202211036607 A CN202211036607 A CN 202211036607A CN 115108470 A CN115108470 A CN 115108470A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- 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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- 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/22—Arrangements for detecting or preventing errors in the information received using redundant apparatus to increase reliability
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention provides a redundancy control system and method applied to an intelligent tower crane, belongs to the technical field of tower cranes, solves the problems that a communication link of the intelligent tower crane is unstable and is easy to interfere, overcomes the defect that the tower crane cannot be operated due to crash, and can avoid the tower crane from being out of control. The redundancy control system comprises a tower crane electrical unit, a tower crane control unit, a tower crane execution unit, a tower crane monitoring unit, a tower crane communication transmission system and a multi-channel remote control terminal, wherein the tower crane electrical unit comprises a power distribution cabinet and a UPS power supply, and the tower crane monitoring unit comprises five limit positions, audible and visual alarm and video monitoring; the tower crane electric unit is simultaneously connected with the tower crane control unit, the tower crane execution unit, the tower crane monitoring unit and the tower crane redundant communication system and is used for supplying power to the tower crane control system; the tower crane control unit is communicated with the tower crane monitoring unit, the tower crane execution unit and the tower crane communication transmission system; the output end of the tower crane execution unit is connected with the tower crane monitoring unit.
Description
Technical Field
The invention relates to a control system and a control method, in particular to a redundancy control system and a redundancy control method applied to an intelligent tower crane, and belongs to the technical field of tower cranes.
Background
With the continuous development of science and technology, the continuous innovation of the traditional tower crane industry is promoted. At present, the research direction of an intelligent tower crane is mainly to liberate a driver of the tower crane and achieve the purpose of nearby or remote control of the tower crane. According to the technical scheme, various digital quantity and analog quantity sensing devices are additionally arranged on a tower crane body to acquire the running data of the tower crane, receive a remote control instruction and drive a frequency converter to remotely control the tower crane through a PLC or a controller.
As a special operation device, once any link of process control is in trouble, a very serious result can be caused, but at present, in the research direction of an intelligent tower crane control system, no scheme with a redundancy design exists, and once the problem occurs in the operation process of the intelligent tower crane, the intelligent tower crane faces the risk of out-of-control tower crane.
Disclosure of Invention
The invention aims to provide a redundancy control system and a redundancy control method applied to an intelligent tower crane, which solve the problems that a communication link is unstable and is easy to interfere due to the influence of a construction environment of the intelligent tower crane, overcome the defect that the tower crane cannot be operated due to crash, and simultaneously avoid the out-of-control of the tower crane.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a redundancy control system applied to an intelligent tower crane comprises a tower crane electrical unit, a tower crane control unit, a tower crane execution unit, a tower crane monitoring unit and a tower crane communication transmission system, wherein the tower crane electrical unit comprises a power distribution cabinet and a UPS (uninterrupted power supply), and the tower crane monitoring unit comprises five limit positions, audible and visual alarm and video monitoring; the tower crane electric unit is simultaneously connected with the tower crane control unit, the tower crane execution unit, the tower crane monitoring unit and the tower crane redundant communication system and is used for supplying power to the tower crane control system; the tower crane control unit is communicated with the tower crane monitoring unit, the tower crane execution unit and the tower crane communication transmission system; the output end of the tower crane execution unit is connected with the tower crane monitoring unit; the tower crane execution unit comprises a lifting frequency converter, a rotary frequency converter and a variable-amplitude frequency converter; the tower crane control unit comprises two switches, two controllers and two safety controllers, wherein the controllers adopt two paths of DP interfaces to be in butt joint with IO equipment, a sensor, an encoder, a rotary frequency converter and a variable-amplitude frequency converter, one of the two controllers is a main controller, the other one is a controller, and the sensor is arranged on a tower crane body.
The preferable scheme of the redundancy control system applied to the intelligent tower crane is that the tower crane communication transmission system comprises a tower crane wireless communication unit, a cloud platform and a plurality of remote control terminals.
According to the preferable scheme of the redundancy control system applied to the intelligent tower crane, the tower crane wireless communication unit comprises a 5G intelligent gateway, WIFI and radio waves, 230MHZ radio waves are adopted in the uplink of radio wave communication, and 433MHZ radio waves are adopted in the downlink of radio wave communication.
In the preferred scheme of the redundancy control system applied to the intelligent tower crane, the controller adopts an NXPI.mx6DL embedded chip.
According to the preferable scheme of the redundancy control system applied to the intelligent tower crane, the controller and the sensor are communicated through Profibus-DP, and the controller, the rotary frequency converter and the amplitude-variable frequency converter are communicated with GPIO through 485 ports.
A tower crane control method by using the redundancy control system comprises the following steps of:
s1, electrifying a system;
s2, running programs of the two controllers;
s3, judging whether a control logic exists or not, if the control logic does not exist, the main controller logically sends a controller down or a master station copy, and if the control logic exists, the controller monitors the broadcast state of the opposite side;
s4, whether the controller receives the state of the opposite side or not is judged;
s5, all the stations can receive the states of the opposite sides and are initialization processes, the master controller is a master station, the controller is a standby station, the master station initializes the stations, the opposite side is the master station, the standby station does not receive information of the opposite side, and if the information is not received within a period of time, the master station is determined to be the master station;
s6, the standby station monitors the broadcast state of the main station, and once the state of the main station cannot be received in three continuous periods, the standby station is upgraded to the main station.
The preferable scheme of the tower crane control method by using the redundancy control system is that the scheduling method of the remote control terminals comprises the following steps:
s01, binding a plurality of remote control terminals with the tower crane: each tower crane has a unique code, the remote control terminal also has a unique code, when the tower crane is not bound, the remote control terminal sends broadcast information, the tower crane controller returns the ID information of the remote control terminal after receiving the broadcast information, and the remote control terminal binds the ID of the remote control terminal and the ID of the tower crane after receiving the ID number to form the header information of communication, thereby completing the binding process of the tower crane;
s02, according to work types of the remote control terminals and the construction schedule of the same day, the priorities of the remote control terminals are configured on a cloud platform, after the configuration is completed, the priorities of the remote control terminals bound with the tower crane are issued to a controller of a tower crane control unit through the cloud platform, a priority queue with three levels is formed, the priority queue can be used for priority service, but after the last remote control terminal releases operation authority, the control right of the tower crane is preempted to realize priority service, and the priority queue with the same priority is carried out in a mode of FIFO first-in-first-out service;
s03, time limitation: each remote control terminal occupies the control right of the tower crane according to the task and has accumulated counting, the control right of the tower crane is not continuously occupied after a certain number of times, so that the remote control terminal with low priority can obtain the operation right, the remote control terminal with low priority has an initial value of 2N, N is the counting of all the remote control terminals bound with the tower crane, after the tower crane executes one task operation, the initial value is reduced by 1, once the initial value is reduced to 1, the task has the highest priority, and the task is directly executed next time;
s04, manually adjusting the operation authority of the remote control terminal by an administrator: and manually adjusting the authority of the remote control terminal through the platform according to the actual progress of the construction site, the time sequence of the construction materials arriving at the site and the actual progress condition of site construction by a construction manager to realize manual intervention of remote control terminal scheduling.
The invention has the advantages that:
the main control station and the standby control station are combined with a redundancy design scheme of the safety controller, the main control station and the standby control station are interacted in real time through a redundancy network, control logic and process data are synchronized in real time, and restarting and self-recovery are achieved, so that the defect that a single controller is out of control of a dead tower crane is thoroughly overcome.
The method adopts data from three communication links of a wireless communication unit of the tower crane, selects a triple redundant communication mechanism which is composed of the final control instructions with the same number as 2 and a triple-out-of-two instruction determination mode in the result, and thoroughly solves the risk of out-of-control tower crane caused by the problem of surrounding signals; the access mode of multiple remote control terminals is adopted, the construction progress of a site is fitted, a scheduling mechanism is designed, and the construction efficiency is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
Fig. 1 is a block diagram of a tower crane redundancy control system of the present invention.
Fig. 2 is a topological structure diagram of the tower crane control unit of the present invention.
Fig. 3 is a diagram of a tower crane control method of the invention.
Fig. 4 is a diagram of a wireless communication link topology of the present invention.
Fig. 5 is a schematic diagram of a scheduling method for a plurality of remote control terminals.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
A redundant control system applied to an intelligent tower crane comprises a tower crane electrical unit, a tower crane control unit, a tower crane execution unit, a tower crane monitoring unit and a tower crane communication transmission system, wherein the tower crane electrical unit is simultaneously connected with the tower crane control unit, the tower crane execution unit, the tower crane monitoring unit and the tower crane redundant communication system and is used for power supply work of the tower crane control system; the output end of the tower crane control unit is connected with the tower crane monitoring unit, the tower crane execution unit and the tower crane communication transmission system; the output end of the tower crane execution unit is connected with the tower crane monitoring unit.
In this embodiment, tower machine electrical unit adopts two way DC24V power supplies, is the switch board all the way, is the UPS power all the way, and two way power supply diode are kept apart, dispose the self-resuming fuse, carry out ground connection processing, and the lightning protection is handled, adopts isolated DCDC converting circuit to supply power for the back stage circuit simultaneously, and the power supply mode of two-way redundancy isolation has effectively solved control system because the power supply is unusual, the work that leads to is abnormal.
In this embodiment, the tower crane execution unit comprises a lifting frequency converter, a rotary frequency converter and a variable-amplitude frequency converter;
in the embodiment, the tower crane monitoring unit comprises five limiting parts, audible and visual alarm and video monitoring;
in this embodiment, tower machine control unit includes two switches, two controllers, two safety control wares, and the controller adopts the embedded chip of NXPI.mx6DL, and the controller adopts two way DP interfaces butt joint IO equipment, and the sensor, encoder, gyration converter and change width of cloth converter, two controllers are one for main control unit, and another is the controller, and the sensor setting is on the tower machine body. The control logic of the two controllers, the synchronization of process data, the state interaction of the two controllers, the system operation monitoring and the like. The two controllers adopt the same embedded controller I.mx6DL, the controller is provided with one path of gigabit network port, and the other path is expanded through PCIE to realize network redundancy configuration; the method is provided with two can interfaces, and a Profibus-DP communication protocol stack is transplanted for acquiring bottom sensor data. Based on an embedded Linux operating system and multithread programming, the process communication, the control logic and the process data synchronization of the main control station and the standby control station are realized by using an 8-port exchanger. And the running state of the controller is monitored, abnormal self-recovery is realized, and the stable running of the controller is ensured. And acquiring positioning information of the mobile terminal through a network, controlling three executing mechanisms of lifting, rotating and amplitude variation, and finishing the action control of the tower crane according to the control instruction.
In the embodiment, the controller and the sensor are communicated through Profibus-DP, and the controller, the rotary frequency converter and the amplitude-variable frequency converter are communicated with the GPIO through 485 circuits.
A tower crane control method by using a redundancy control system comprises the following steps:
s1, electrifying a system;
s2, running programs of the two controllers;
s3, judging whether a control logic exists or not, if the control logic does not exist, the main controller logically sends a controller down or a master station copy, and if the control logic exists, the controller monitors the broadcast state of the opposite side;
s4, whether the controller receives the state of the opposite side or not is judged;
s5, all the stations can receive the states of the opposite sides and are initialization processes, the master controller is a master station, the controller is a standby station, the master station initializes the stations, the opposite side is the master station, the standby station does not receive information of the opposite side, and if the information is not received within a period of time, the master station is determined to be the master station;
s6, the standby station monitors the broadcast state of the main station, and once the state of the main station cannot be received in three continuous periods, the standby station is upgraded to the main station.
Another important component of the redundancy control system of the intelligent tower crane is a tower crane communication transmission system, the tower crane communication transmission system comprises a tower crane wireless communication unit, a cloud platform and a plurality of remote control terminals, the tower crane wireless communication unit comprises a 5G intelligent gateway, WIFI and radio waves, the radio wave communication aims at solving the problem of stability and reliability of a tower crane communication link, it is ensured that instructions are accurate and correct to correspond, the state is fed back in real time, the tower crane is prevented from being out of control, the radio wave communication uplink adopts 230MHZ radio waves, and the downlink adopts 433MHZ radio waves.
The tower crane communication transmission system can solve the following two problems:
1. and controlling the real-time accurate execution of the instruction. The tower crane operator is through the touch-control button of button or touch-sensitive screen on the remote control terminal, and the remote control terminal all can carry out the transmission of order through three links, including 5G intelligent gateway, WIFI and radio wave. And the tower crane controller receives the control commands of the three links within the set time, and then confirms the final command according to the logic of two out of three as shown in the table 1, thereby ensuring the accuracy of the control commands. The communication mode is carried out in a heartbeat and feedback mode, the remote control terminal keeps the heartbeat by adopting the frequency of 2Hz, and after the tower crane controller receives the heartbeat, the current operation parameters and state data of the tower crane are fed back to the terminal in a feedback mode, so that the real-time response of the data is ensured. Meanwhile, the uplink frequency is 230Mhz, the downlink frequency is 433Mhz, and different tower cranes prevent interference through frequency modulation on the basis of the uplink frequency and the downlink frequency, so that the stability and smoothness of uplink and downlink data are ensured, and the heartbeat and response mode is adopted, thereby avoiding the problems of channel occupation and communication conflict caused by active transmission of the two parties.
TABLE 1 control instruction two out of three processing mechanism
2. And exception handling of the communication link. In the actual implementation process, due to the position of the construction site and the surrounding environment, the current signal quality is affected to a certain extent, and the problem of the communication link is inevitable. The processing method is as shown in fig. 5, each link performs response communication, once a problem occurs in the link, response communication is continued in the next three instruction cycles, a problem still exists after three cycles, delay response of 10 cycles, 30 cycles and 60 cycles is performed, once the link returns to normal, the normal communication method is maintained, and if a problem still exists, the underlying driver resets the link. And then the circulation is continued. The purpose is to ensure the real-time monitoring of the link state, avoid too many useless detections and improve the system efficiency.
The other important component of the redundancy control system of the intelligent tower crane is the access control supporting the multiple remote control terminals. Because the demand distribution that the object need be hoisted to the job site is uncertain, exist in the optional position of three-dimensional building main part, consequently introduce a plurality of remote control terminals and can improve the efficiency of construction greatly. Meanwhile, the single remote control terminal controls the operation of the tower crane, and once a problem exists, the tower crane can have a risk of being out of control. However, the access of multiple remote control terminals inevitably introduces the scheduling problem of the remote controller, and according to the actual situation of the construction site, the scheduling method of multiple remote control terminals as shown in fig. 5 is designed, which specifically includes the following steps:
s01, binding a plurality of remote control terminals, namely remote controllers, with the tower crane: each tower crane has a unique code, the remote control terminal also has a unique code, when the tower crane is not bound, the remote control terminal sends broadcast information, the tower crane controller returns the ID information of the remote control terminal after receiving the broadcast information, the remote control terminal binds the ID of the remote control terminal with the ID of the tower crane after receiving the ID number to form the header information of communication, the binding process of the tower crane is completed, 9 remote control terminals are planned in fig. 5, and the ID numbers of the remote control terminals are 1-;
s02, according to the work type of the remote controller and the construction schedule of the same day, the priority of the remote controller is configured on the cloud platform, after the configuration is completed, the priority of the remote controller bound with the tower crane is issued to the tower crane controller through the cloud platform, a priority queue of three levels is formed, the remote controller with high priority can be used for priority service, for example, the ID of the remote control terminal with the highest priority is 9, 3 and 4, the ID of the remote control terminal with the secondary priority is 6, 2 and 5, and the ID of the remote control terminal with the lowest priority is 8, 1 and 7; but also the control right of the tower crane can be preempted after the last remote controller releases the operation right, so that the priority service is realized, and the priority is the same and the mode of FIFO first-come first-serve is adopted;
s03, time limitation: each remote control terminal occupies the control right of the tower crane according to the task and has accumulated counting, at present, planning is performed according to 3 times, the control right of the tower crane is not continuously occupied after 3 times, so that the remote controller with low priority can obtain the operation right, the remote controller with low priority has an initial value of 2N (all remote controller counting bound with the tower crane), after the tower crane executes one task operation, the initial value is reduced by 1, once the initial value is reduced to 1, the task has the highest priority, the task is directly executed next time, the method realizes that the tower crane also has the opportunity to control the tower crane at low priority, and the condition that the control right of the tower crane cannot be obtained for a long time is avoided;
and S04, manual adjustment of the remote controller operation authority by an administrator. According to the actual progress of a construction site, the time sequence of the construction materials arriving at the site and the actual progress condition of site construction, a construction manager can manually adjust the authority of the remote controller through the platform to realize manual intervention of remote controller scheduling, if the remote control terminal 1 with low priority is improved to the highest priority, the remote control terminal 6 with secondary priority is reduced in priority and delayed in operation, and therefore construction efficiency is improved.
The whole process is as follows: according to the arrangement of construction operation on the same day, binding 9 remote control terminals on a construction site to the tower crane, dividing according to the priority levels described in the drawing, starting normal construction operation, preferentially acquiring task execution permission by the remote control terminal 9 with the highest priority level, starting operation in the task time block 1, after the operation is finished, acquiring the permission by the remote control terminal 3, and continuing the execution, wherein at the moment, the actual progress of the construction site is changed, the priority level of the remote control terminal 6 is manually reduced, the operation permission is released, the task of the remote control terminal 4 is not started yet, the highest operation permission is acquired by the remote control terminal 2, the normal execution is realized, and the task of the remote control terminal 2 needs to occupy 2 task time blocks and is normally executed; at this time, the priority of the remote control terminal 1 is manually adjusted, at this time, the remote control terminal 1 acquires the highest priority to start execution, preempts the execution authority of the remote control terminal 5, the remote control terminal 5 delays execution, and then the remote control terminal 4, the remote control terminal 6, the remote control terminal 8 and the remote control terminal 7 execute according to the priority order.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The utility model provides a be applied to redundant control system of intelligent tower machine, includes tower machine electrical unit, tower machine the control unit, tower machine execution unit, tower machine monitor unit and tower machine communication transmission system, tower machine monitor unit includes five spacing, audible and visual alarm and video monitoring, its characterized in that:
the tower crane electric unit is simultaneously connected with the tower crane control unit, the tower crane execution unit, the tower crane monitoring unit and the tower crane redundant communication system and is used for supplying power to the tower crane control system; the tower crane control unit is communicated with the tower crane monitoring unit, the tower crane execution unit and the tower crane communication transmission system; the output end of the tower crane execution unit is connected with the tower crane monitoring unit;
the tower crane electrical unit comprises a power distribution cabinet and a UPS (uninterrupted power supply);
the tower crane execution unit comprises a lifting frequency converter, a rotary frequency converter and a variable-amplitude frequency converter;
the tower crane control unit comprises two switches, two controllers and two safety controllers, wherein the controllers adopt two paths of DP interfaces to be in butt joint with IO equipment, a sensor, an encoder, a rotary frequency converter and a variable-amplitude frequency converter, one of the two controllers is a main controller, the other one is a controller, and the sensor is arranged on a tower crane body.
2. The redundant control system applied to the intelligent tower crane according to claim 1, is characterized in that: the tower crane communication transmission system comprises a tower crane wireless communication unit, a cloud platform and a plurality of remote control terminals.
3. The redundancy control system applied to the intelligent tower crane according to claim 2, characterized in that: the tower crane wireless communication unit comprises a 5G intelligent gateway, WIFI and radio waves, wherein the radio wave communication uplink adopts 230MHZ radio waves, and the downlink adopts 433MHZ radio waves.
4. The redundancy control system applied to the intelligent tower crane according to claim 1, characterized in that: the controller adopts a NXPI.mx6DL embedded chip.
5. The redundancy control system applied to the intelligent tower crane according to claim 1, characterized in that: the controller and the sensor are communicated through Profibus-DP, and the controller, the rotary frequency converter and the amplitude-variable frequency converter are communicated with GPIO through 485.
6. A tower crane control method by using the redundant control system of any one of claims 1 to 4, wherein the communication process processing comprises the following steps:
s1, electrifying a system;
s2, running programs of the two controllers;
s3, judging whether a control logic exists, if not, issuing a controller to issue or copying by a main controller, and if so, monitoring the broadcast state of the opposite side by the controller;
s4, whether the controller receives the state of the opposite side or not is judged;
s5, all the stations can receive the states of the opposite sides and are initialization processes, the master controller is a master station, the controller is a standby station, the master station initializes the stations, the opposite side is the master station, the standby station does not receive information of the opposite side, and if the information is not received within a period of time, the master station is determined to be the master station;
s6, the standby station monitors the broadcast state of the main station, and once the state of the main station cannot be received in three continuous periods, the standby station is upgraded to the main station.
7. The method for controlling the tower crane by using the redundancy control system as claimed in claim 6, wherein the scheduling method of the plurality of remote control terminals is as follows:
s01, binding a plurality of remote control terminals with the tower crane: each tower crane has a unique code, the remote control terminal also has a unique code, when the tower crane is not bound, the remote control terminal sends broadcast information, the tower crane controller returns the ID information of the remote control terminal after receiving the broadcast information, and the remote control terminal binds the ID of the remote control terminal and the ID of the tower crane after receiving the ID number to form the header information of communication, thereby completing the binding process of the tower crane;
s02, according to work types of the remote control terminals and the construction schedule of the same day, the priorities of the remote control terminals are configured on a cloud platform, after the configuration is completed, the priorities of the remote control terminals bound with the tower crane are issued to a controller of a tower crane control unit through the cloud platform, a priority queue with three levels is formed, the priority queue can be used for priority service, but after the last remote control terminal releases operation authority, the control right of the tower crane is preempted to realize priority service, and the priority queue with the same priority is carried out in a mode of FIFO first-in-first-out service;
s03, time limitation: each remote control terminal occupies the control right of the tower crane according to the task and has accumulated counting, the control right of the tower crane is not continuously occupied after a certain number of times, so that the remote control terminal with low priority can obtain the operation right, the remote control terminal with low priority has an initial value of 2N, N is the counting of all the remote control terminals bound with the tower crane, after the tower crane executes one task operation, the initial value is reduced by 1, once the initial value is reduced to 1, the task has the highest priority, and the task is directly executed next time;
s04, manually adjusting the operation authority of the remote control terminal by an administrator: and manually adjusting the authority of the remote control terminal through the platform according to the actual progress of the construction site, the time sequence of the construction materials arriving at the site and the actual progress condition of site construction by a construction manager to realize manual intervention of remote control terminal scheduling.
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