CN116924239A - Lifting control system and lifting task control method - Google Patents

Abstract

The invention provides a lifting control system and a lifting task control method. This handling control system includes: the cockpit linkage table is used for sending a transport instruction for indicating the transport hook to the hook lifting point and the hook falling point to the tower crane control module; the remote control module is used for sending control instructions indicating cargo mounting and cargo unloading to the tower crane control module; the tower crane control module is used for: and generating motor control signals from the transport lifting hook to the lifting hook point and the falling hook point according to the transport instruction, sending the motor control signals from the transport lifting hook to the falling hook point according to the control instruction, sending the motor control signals to the motor, and generating a fourth motor control signal for lifting the hook after the sensor detects the information of cargo mounting or unloading and sending the fourth motor control signal to the motor. The invention can improve the safety and the execution efficiency of the lifting task.

Description

Lifting control system and lifting task control method

Technical Field

The invention relates to the technical field of the Internet of things of buildings, in particular to a lifting control system and a lifting task control method.

Background

The tower crane is the most main transport tool capable of simultaneously solving the lifting of height and area weights in the building construction process. In general, the tower crane is controlled by a tower driver positioned in an operating room on the tower, and when a crane is lifted, a signaler on the ground needs to use an interphone to communicate with the tower driver to command to finish the operation.

In the actual construction process, a lifting task is divided into a lifting hook link and an air transportation link, wherein in the lifting hook link, a tower driver on a tower does not know the construction condition near a lifted object, and the lifting task needs to be completed in cooperation with a signal worker on the ground. In the prior art, a tower driver and a signal driver use an interphone to carry out conversation, the signal driver needs to inform the tower driver of specific conditions, and the tower driver can take up and down the hook according to the signal driver instruction. In this process, there are the following problems:

a) For some unusual complex cases, a detailed interpretation description of the signal worker is required, and information transfer is easy to be inaccurate and time-consuming;

b) Some controls are difficult to describe accurately, such as a signal worker says "left a little", a tower is difficult to grasp the distance, and repeated communication is required;

c) Under the condition of the mountain isolation crane, the tower driver can not see the lifting hook at all, and dangerous conditions are very easy to occur only according to signal engineering command.

Therefore, how to improve the efficiency and safety of the lifting task is a technical problem that needs to be solved by those skilled in the art.

Disclosure of Invention

The invention aims to provide a lifting control system and a lifting task control method, which are used for solving the technical problems in the prior art.

In one aspect, the present invention provides a lifting control system for achieving the above object.

The lifting control system comprises: the control system comprises a cockpit linkage table, a tower crane control module and a control system, wherein the cockpit linkage table is used for sending a first transport instruction and a second transport instruction to the tower crane control module, the first transport instruction is used for indicating a transport hook to a hook lifting point, and the second transport instruction is used for indicating the transport hook to a hook falling point; the remote control module is used for sending a first control instruction and a second control instruction to the tower crane control module, wherein the first control instruction is used for indicating cargo mounting, and the second control instruction is used for indicating cargo unloading; the tower crane control module is used for: generating a first motor control signal from the transport hook to a hook lifting point according to the first transport instruction, and sending the first motor control signal to a motor; generating a second motor control signal from the transport hook to the hook falling point according to the second transport instruction, and sending the second motor control signal to a motor; generating a third motor control signal of the falling hook according to the first control instruction, sending the third motor control signal to the motor, generating a fourth motor control signal of the lifting hook after the sensor detects the cargo mounting information, and sending the fourth motor control signal to the motor; and generating the third motor control signal according to the second control instruction, sending the third motor control signal to the motor, and generating the fourth motor control signal after the sensor detects cargo unloading information and sending the fourth motor control signal to the motor.

Further, the handling control system further comprises: cockpit display end, wherein: the remote control module is also used for sending a completion instruction to the cockpit display end after the cargo is mounted; and the cockpit display end is used for displaying prompt information according to the completion instruction.

Further, the handling control system further comprises: a management platform, wherein the management platform is used for: receiving a task selection instruction sent by the remote control module, wherein the remote control module is further used for generating the task selection instruction when receiving task selection operation input by a user; determining a target task in a lifting task list according to the task selection instruction; determining a cockpit display end corresponding to the target task; and sending an execution instruction of the target task to a cockpit display end corresponding to the target task, wherein the cockpit display end is further used for displaying task information of the target task according to the execution instruction.

Further, the remote control module is further configured to: receiving task creation operation input by a user; creating a lifting task according to the task creation operation; and sending the lifting task to the management platform.

Further, the step of creating a lifting task according to the task creation operation includes: responding to a task new operation, and displaying a task new page, wherein the task new page comprises an area map and a parameter input component; responding to a starting point selection operation and an ending point selection operation of a user on the regional map, and determining a lifting hook point of a lifting task; receiving lifting parameters input by a user at the parameter input assembly, wherein the lifting parameters comprise a lifting type, a lifting size, a lifting rope length, a planning time, a predicted lifting time and/or application priority; and creating the lifting task according to the lifting hook point and the lifting parameter.

Further, the remote control module includes a hand-held end for receiving user operations and a controller interacting with the hand-held end, wherein: when the handheld terminal sends first user information to the controller, the controller works in a first mode, wherein the first mode is used for receiving the task selection operation; when the handheld terminal sends second user information to the controller, the controller works in a second mode, wherein the second mode is used for receiving the task creation operation.

Further, the handheld ends comprise a first handheld end and a second handheld end, wherein the first handheld end is used for receiving user operations of lifting hooks and hanging cargoes, and the second handheld end is used for receiving user operations of lifting hooks and unloading cargoes.

Further, the controller is further configured to perform heartbeat monitoring on the handheld end, and send a control instruction for stopping operation to the tower crane control module when the heartbeat monitoring is abnormal; the controller is also used for carrying out safety monitoring on the operation of the tower crane, and sending a stop operation control instruction to the tower crane control module when the safety monitoring is abnormal.

On the other hand, in order to achieve the above purpose, the present invention provides a control method for a lifting task.

The control method of the lifting task comprises the following steps: receiving a first transport instruction sent by a cockpit linkage table, wherein the first transport instruction is used for indicating a transport hook to a hook lifting point; generating a first motor control signal from the transport hook to a hook lifting point according to the first transport instruction, and sending the first motor control signal to a motor; receiving a first control instruction sent by a remote control module, wherein the first control instruction is used for indicating cargo mounting; generating a third motor control signal of the falling hook according to the first control instruction, sending the third motor control signal to the motor, generating a fourth motor control signal of the lifting hook after the sensor detects the cargo mounting information, and sending the fourth motor control signal to the motor; receiving a second transport instruction sent by the cockpit linkage table, wherein the second transport instruction is used for indicating a transport hook to a hook falling point; generating a second motor control signal from the transport hook to the hook falling point according to the second transport instruction, and sending the second motor control signal to a motor; receiving a second control instruction sent by the remote control module, wherein the second control instruction is used for indicating cargo unloading; generating the second motor control signal according to the second control instruction and sending the second motor control signal to the motor; and generating the third motor control signal according to the second control instruction, sending the third motor control signal to the motor, and generating the fourth motor control signal after the sensor detects cargo unloading information and sending the fourth motor control signal to the motor.

Further, before receiving the first control instruction, or before receiving the second control instruction, the method further includes: receiving a position adjustment instruction of the remote control module, wherein the position adjustment instruction is used for indicating an adjustment direction and an adjustment distance of the lifting hook, and the adjustment distance is smaller than a preset length; and generating a fifth motor control signal for adjusting the lifting hook according to the position adjustment instruction and sending the fifth motor control signal to the motor.

The invention provides a lifting control system and a control method of a lifting task, wherein the lifting control system comprises a cockpit linkage table, a remote control module and a tower crane control module, wherein a tower driver operates the cockpit linkage table, the cockpit linkage table sends a transport instruction to the tower crane control module, and the tower crane control module responds to the transport instruction of the cockpit linkage table to realize an air transport link of the lifting task; the signal worker operates the remote control module, the remote control module sends a control instruction to the tower crane control module, and the tower crane control module responds to the control instruction of the remote control module to realize the lifting hook link of the lifting task. According to the invention, a signal worker directly participates in the lifting task, so that the influence of information transmission on efficiency and safety is avoided, a tower is not required to participate in a lifting hook link, the tower is avoided from hanging at intervals, and the execution efficiency and safety of the lifting task are improved.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:

FIG. 1 is a block diagram of a handling control system provided in accordance with a first embodiment of the present invention;

fig. 2 is a flow chart of executing a lifting task of a lifting control system according to a first embodiment of the present invention;

fig. 3 is a flowchart of a control method of a lifting task according to a second embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The embodiment of the invention provides a lifting control system and a lifting task control method, wherein a cockpit linkage table operated by a tower crane and a remote control module operated by a signal worker are arranged in the lifting control system, and are interacted with the tower crane control module in a coordinated manner to finish the lifting task. Specifically, the tower crane operates the cockpit linkage table, a first transportation instruction is sent to the tower crane control module, the lifting hook of the tower crane is transported to a hook lifting point, a second transportation instruction is sent, and the lifting hook of the tower crane is transported to a hook falling point, namely, the tower crane operates the cockpit linkage table to complete an air transportation link; the remote control module is operated by a signaler, a first control instruction is sent to the tower crane control module, lifting hooks and hanging goods are completed, a second control instruction is sent, lifting hooks and unloading goods are completed, and namely the remote control module is operated by the signaler, so that lifting hooks are completed. The cooperative execution of the lifting task is realized, the tower driver completes the air transportation link, and the signaler completes the lifting hook link, so that the efficient and safe execution of the lifting task is realized, and the execution efficiency and the safety of the lifting task are integrally improved. Specific embodiments of the handling control system and handling task control method provided by the present invention will be described in detail below.

Example 1

Fig. 1 is a block diagram of a lifting control system according to an embodiment of the present invention, and as shown in fig. 1, the lifting control system includes a tower crane control module 10, a cockpit linkage table 20 and a remote control module 30.

In the air transportation link, the cockpit linkage table 20 is configured to send a first transportation instruction and a second transportation instruction to the tower crane control module 10, where the first transportation instruction is used to instruct the transportation hook to a hook lifting point, and the second transportation instruction is used to instruct the transportation hook to a hook dropping point; in the lifting hook link, the remote control module 30 is configured to send a first control instruction and a second control instruction to the tower crane control module 10, where the first control instruction is used to instruct loading of the cargo, and the second control instruction is used to instruct unloading of the cargo.

In an air transportation link, the tower crane control module 10 responds to a first transportation instruction, generates a first motor control signal for transporting the lifting hook to a lifting hook point and sends the first motor control signal to the motor, and the motor transports the lifting hook of the tower crane to the lifting hook point under the action of the first motor control signal; the tower crane control module 10 responds to the second transportation instruction, generates a second motor control signal for transporting the lifting hook to the hooking point and sends the second motor control signal to the motor, and the motor transports the lifting hook of the tower crane to the hooking point under the action of the second motor control signal.

In the hook lifting link, the tower crane control module 10 responds to the first control instruction, generates a third motor control signal of a hook to send to the motor, the motor drops a lifting hook of the tower crane under the action of the third motor control signal, a worker mounts goods on the lifting hook, the sensor detects the goods mounting information, the tower crane control module 10 receives the goods mounting information and then generates a fourth motor control signal of the hook to send to the motor, and the motor lifts the lifting hook of the tower crane under the action of the fourth motor control signal to finish hook lifting and goods hanging.

The tower crane control module 10 responds to the second control instruction, generates a third motor control signal of the falling hook and sends the third motor control signal to the motor, the motor drops the lifting hook of the tower crane under the action of the third motor control signal, a worker unloads goods from the lifting hook, the sensor detects goods unloading information, the tower crane control module 10 receives the goods unloading information and then generates a fourth motor control signal of the lifting hook and sends the fourth motor control signal to the motor, and the motor lifts the lifting hook of the tower crane under the action of the fourth motor control signal to finish lifting the falling hook and unloading goods.

In the lifting control system provided by the embodiment, a tower crane control module, a cockpit linkage table and a remote control module are arranged to cooperatively complete a lifting task. The tower driver operates the cockpit linkage table, the cockpit linkage table sends a transport instruction to the tower crane control module, and the tower crane control module responds to the transport instruction of the cockpit linkage table to realize an air transport link of a lifting task; the signal worker operates the remote control module, the remote control module sends a control instruction to the tower crane control module, and the tower crane control module responds to the control instruction of the remote control module to realize the lifting hook link of the lifting task. Specifically, the signaler can send control information to the rear end controller of the remote control module by means of the handle externally connected with the remote control module through Bluetooth, the rear end controller converts the control signal into control instructions (namely command information for controlling the movement direction, gear, speed and the like) of the tower crane, and the control instructions are sent to the tower crane control module. After the control command is received by the tower crane control module, the control command is converted into a control signal for the motor, such as a control frequency signal of the motor, so as to control the operation of the tower crane and complete the hook lifting link.

By adopting the lifting control system provided by the embodiment, based on the interaction of the tower crane control module and the remote control module, a signaler can directly participate in a lifting task without information transmission with a tower, and the control system is simply operated by the tower, so that the influence of information transmission between the signaler and the tower on efficiency and safety is avoided. Meanwhile, a tower crane does not need to participate in a lifting hook link, so that the tower crane is prevented from hanging at intervals. Compared with the prior art, the lifting control system provided by the embodiment integrally improves the execution efficiency and safety of lifting tasks.

Optionally, in one embodiment, the handling control system further comprises: cockpit display end, wherein: the remote control module is also used for sending a completion instruction to the cockpit display end after the cargo is mounted; the cockpit display end is used for displaying prompt information according to the completion instruction.

Specifically, as shown in fig. 1, the swing control system further includes a cockpit display 50. After the signal worker finishes the cargo mounting, the remote control module 30 is operated, a finishing instruction is sent to the cockpit display end 50, and the cockpit display end 50 displays prompt information according to the finishing instruction, so that the operation of the air transportation link can be performed by the prompt tower.

By adopting the lifting control system provided by the embodiment, the lifting control system is provided with the cockpit display end, and the signaler transmits prompt information to the cockpit display end based on the remote control module and displays the prompt information to the tower so that the tower participates in control in time, and the execution efficiency and safety of lifting tasks are further improved.

Optionally, in one embodiment, the handling control system further comprises: the management platform, wherein, the management platform is used for: receiving a task selection instruction sent by a remote control module, wherein the remote control module is also used for generating the task selection instruction when receiving task selection operation input by a user; determining a target task in the lifting task list according to the task selection instruction; determining a cockpit display end corresponding to a target task; and sending an execution instruction of the target task to a cockpit display end corresponding to the target task, wherein the cockpit display end is further used for displaying task information of the target task according to the execution instruction.

Specifically, as shown in fig. 1, the lifting control system further includes a management platform 40 disposed at the cloud end. The lifting tasks to be executed form a task list and are stored in the management platform 40, and the signaler pulls the lifting tasks from the management platform 40 through the remote control module 30. The signal worker inputs a task selection operation at the handheld end of the remote control module 30, selects a target task, determines to execute the task selection operation, generates a task selection instruction after the back-end controller receives the task selection operation input by the user, and sends the task selection instruction to the management platform 40. The management platform 40 receives the task selection instruction sent by the remote control module 30, and determines a target task in the lifting task list according to the task selection instruction. Aiming at the task scenario of the crowd tower, a target task is distributed to a tower based on a preset task distribution rule, the tower is associated with a cockpit display terminal 30, the cockpit display terminal 30 corresponding to the target task is determined, the execution instruction of the target task is sent to the cockpit display terminal 30, and the cockpit display terminal 30 displays task information of the target task according to the execution instruction. The tower driver can know the detailed content of the current task after knowing the target task through the task information displayed by the cockpit display end 30, and operate the cockpit linkage table 20 to transport the lifting hook to the vicinity of the lifting hook point, so as to complete the air transportation link in the first stage.

When the crane reaches the vicinity of the hook lifting point, a signaler carries out remote control operation on the crane through the remote control module 30 to realize hook lifting and goods hanging, and after the completion, the crane is continuously informed of the crane through the remote control module 30, and the crane conveys the hung goods to the vicinity of the hook lifting point through the cockpit linkage table 20. When the crane reaches the vicinity of the hook falling point, the signaler continues to remotely control the crane by using the remote control module 30, so that the hook falling and the weight unloading are realized, and one crane is completed.

Meanwhile, the management platform 40 performs collection statistical analysis of whole flow data on the whole task, and can perform work such as task scheduling plan, efficiency statistical analysis and the like subsequently, so that data closed loop is realized, and management efficiency is improved.

By adopting the lifting control system provided by the embodiment, a management platform is arranged in the lifting control system, task management is carried out through the management platform, a task list is formed, task distribution is carried out, a signaler pulls tasks from the management platform, and task information is issued to the tower through a cockpit display terminal after the corresponding tower is determined by the management platform. The management platform performs plan management on the lifting tasks uniformly, so that the lifting is more efficient.

Optionally, in one embodiment, the remote control module is further configured to: receiving task creation operation input by a user; creating a lifting task according to the task creating operation; and sending the lifting task to the management platform.

Specifically, the signaler can participate in the lifting task through the remote control module 30, and meanwhile, the worker user can also create the task through the remote control module 30. The remote control module 30 includes a hand-held end and a back-end controller, a worker user operates the hand-held end, inputs a task creation operation, the hand-held end feeds back an operation behavior to the back-end controller, the back-end controller creates a lifting task according to the task creation operation, and sends the created lifting task to the management platform 40, and the management platform 40 adds the received lifting task to a task list.

By adopting the lifting control system provided by the embodiment, a worker user creates a lifting task based on a remote control module, and the task is submitted by using a handheld terminal; the signal worker pulls the task by using the handheld end and remotely controls the tower crane in the lifting hook link, so that the convenience of task creation and execution is improved.

Optionally, in one embodiment, the step of creating the lifting task from the task creation operation includes: responding to a task new operation, and displaying a task new page, wherein the task new page comprises an area map and a parameter input component; responding to a starting point selection operation and an ending point selection operation of a user on the regional map, and determining a lifting hook point of a lifting task; receiving lifting parameters input by a user in a parameter input assembly, wherein the lifting parameters comprise a lifting type, a lifting size, a lifting rope length, a planning time, a predicted lifting time and/or application priority; and creating a lifting task according to the lifting hook point and the lifting parameter.

Specifically, the worker user inputs a task creation operation, and the remote control module 30 displays a task creation page in response to the operation. Displaying an area map related to a lifting scene on a task newly-built page, wherein a worker user can select the lifting hook point of a lifting task through the map by selecting the operation on the area map; the new task page is also provided with a parameter input assembly, and a worker user can edit the parameter information of the lifting task according to the lifting parameters input by the parameter input assembly. And finally, according to the lifting hook point and the lifting parameter, the lifting task is created.

By adopting the lifting control system provided by the embodiment, a worker user can directly realize the creation of lifting tasks through the remote control module, and the informationized management of all the tasks is realized, so that the creation and execution of all the lifting tasks are visible, the utilization rate of the tower crane is improved, and the execution efficiency of the lifting tasks is improved.

Optionally, in one embodiment, the remote control module includes a handheld end for receiving user operations and a controller that interacts with the handheld end, wherein: when the handheld terminal sends first user information to the controller, the controller works in a first mode, wherein the first mode is used for receiving task selection operation; when the handheld terminal sends the second user information to the controller, the controller works in a second mode, wherein the second mode is used for receiving the task creation operation.

Specifically, the remote control module includes a hand-held end and a back-end controller. The hand-held terminal is used as a mobile terminal, so that a worker user and a signal worker can carry out mobile operation; the controller can be arranged in the electric control cabinet and interacts with the handheld end and the tower crane control module. The user of the worker and the signal worker interact with the controller through the handheld end, and the controller can automatically perform identity verification and authentication on the user operating the handheld end. When a user inputs first user information to the handheld terminal, the controller recognizes that the user is a worker role based on the first user information, the controller works in a first mode, in which task creation operation can be received, and the user can create and submit tasks; when the user inputs second user information to the handheld terminal, the controller recognizes that the user is a signal character based on the second user information, and the controller works in a second mode, and in the second mode, task selection operation can be received to pull and execute the task.

According to the lifting control system provided by the embodiment, the handheld terminal works in different modes based on different user roles, and identity verification and authentication are performed through user information, so that the working modes of creating lifting tasks and pulling and executing tasks by the worker roles are mutually independent, and the safety of the lifting control system is improved.

Optionally, in one embodiment, the handheld ends include a first handheld end for receiving user operations of the landing gear and hanging cargo, and a second handheld end for receiving user operations of the landing gear and unloading cargo.

Specifically, at least two handheld ends are arranged in the lifting control system, multi-signal work cooperation is achieved, for example, a signal work A is at a lifting hook point, a signal work B is at a falling hook point, the signal work A controls a lifting hook of a tower crane and hangs goods based on the first handheld end, the signal work B controls the lifting hook of the tower crane and the goods to be unloaded based on the second handheld end, and a common worker does not need to follow the lifting hook to run between the lifting hook point and the falling hook point, so that lifting times can be completed cooperatively.

By adopting the lifting control system provided by the embodiment, a plurality of signalers realize the control separation of the hook starting point and the hook falling point based on different handheld ends, the signalers do not need to follow the lifting hook to run, and the execution efficiency of lifting tasks is further improved.

Optionally, in an embodiment, the controller is further configured to perform heartbeat monitoring on the handheld end, and send a stop operation control instruction to the tower crane control module when the heartbeat monitoring is abnormal; the controller is also used for carrying out safety monitoring on the operation of the tower crane, and when the safety monitoring is abnormal, a stop operation control instruction is sent to the tower crane control module.

Specifically, the controller monitors heartbeat of the handheld terminal, and when the heartbeat monitoring is abnormal in case of network disconnection or network weakness, the controller automatically sends a control instruction for stopping operation to the tower crane control module to stop the operation of the tower crane; the controller can carry out safety inspection to the tower crane operation, in case trigger overweight, conditions such as spacing, when safety inspection is unusual, can send stop operation control command to tower crane control module, automatic stop tower crane operation.

By adopting the lifting control system provided by the embodiment, the heartbeat monitoring and the safety monitoring of the handheld end are realized through the controller, so that the operation of the tower crane can be stopped in time under abnormal conditions, and the safety of the control of the tower crane is improved.

Optionally, in an embodiment, fig. 2 is a flow chart of a handling task performed by the handling control system according to the first embodiment of the present invention, and as shown in fig. 2, the flow chart performed by the handling control system (handheld end system) includes task creation and submission, task acquisition, and task execution (air transportation link and hook lifting link). In the task creation and submission stage, a worker creates and submits a task to a cloud (management platform) by using an app (remote control module), and the cloud performs scheduling of the task. In the task acquisition stage, a signaler pulls a task to be executed through the app, and selects one task to execute. In the air transportation link, the tower department receives an execution command and controls the lifting hook to reach the vicinity of the lifting hook point. In the link of lifting and falling the hook, the control right of the tower crane is switched to a signal worker, the signal worker is at the hook accessory, the app is used for remotely and finely adjusting the hook, and after the object is hung, the release control right is controlled by the tower crane. Returning to the air transportation link, the tower controls the lifting hook to the vicinity of the falling hook point. And then returning to a lifting hook link, and enabling a signaler to remotely control the lifting hook to lift and unload the lifting hook by using the app.

Example two

The second embodiment of the invention provides a control method for a lifting task, wherein an execution main body of the control method is a tower crane control module in a lifting control system, and the tower crane control module receives control instructions of a cockpit linkage table and a remote control module and drives a tower crane to complete the lifting task. By the method, the tower crane and the signaler can cooperatively control the tower crane in the process of lifting tasks, and the execution efficiency and safety of the lifting tasks are improved. Specifically, fig. 3 is a flowchart of a method for controlling a lifting task according to a second embodiment of the present invention, as shown in fig. 3, the method for controlling a lifting task according to the embodiment includes the following steps S101 to S108.

Step S101: and receiving a first transportation instruction sent by the cockpit linkage table.

For a lifting task to be executed, namely a target task, a cab linkage table is firstly operated by a tower driver to finish the air transportation link of the first stage, namely the lifting hook of the tower crane is transported to a lifting hook point. Specifically, the tower controls the cockpit linkage table, and the cockpit linkage table sends a first transportation instruction to the tower crane control module, wherein the first transportation instruction is used for indicating the transportation lifting hook to the lifting hook point. The tower crane control module receives the first transportation instruction sent by the cockpit linkage table.

Step S102: and generating a first motor control signal from the transport hook to the hook lifting point according to the first transport instruction, and sending the first motor control signal to the motor.

The tower crane control module generates a first motor control signal for transporting the lifting hook to the lifting hook point according to the first transporting instruction, and sends the first motor control signal to the motor, and the motor controls the operation of the tower crane by the first motor control signal, so that the lifting hook of the tower crane is transported to the lifting hook point. Optionally, task details of the target task, such as a lifting hook point and lifting parameters of the lifting task, are displayed on a display end of the cockpit, wherein the lifting parameters can comprise a lifting object type, a lifting object size, a lifting rope length, a planning time, a predicted lifting time, or whether application is prioritized, and the like, and the tower can operate the cockpit linkage table based on the task details of the target task to realize the transportation of the lifting hook of the tower crane to the lifting hook point.

Step S103: and receiving a first control instruction sent by the remote control module.

After the tower crane completes the air transportation link in the first stage, the control right of the tower crane is given to the remote control module. Optionally, the remote control module comprises a controller and a handheld end, the handheld end is operated by a signaler, and the remote control module interacts with the controller through the handheld end so as to complete a mounting link, namely falling a hook and lifting the hook after hanging goods. Specifically, a signaler manipulation handheld end located at a hooking point interacts with a controller, and the controller sends a first control instruction to a tower crane control module, wherein the first control instruction is used for indicating cargo mounting. The tower crane control module receives the first control instruction sent by the remote control module.

Step S104: and generating a third motor control signal of the falling hook according to the first control instruction, sending the third motor control signal to the motor, and generating a fourth motor control signal of the lifting hook after the sensor detects the cargo mounting information and sending the fourth motor control signal to the motor.

After the tower crane control module receives the first control instruction, a third motor control signal of a falling hook is firstly generated and sent to a motor, the motor controls the tower crane to run by the third motor control signal, a lifting hook is fallen down, after a worker mounts goods on the lifting hook, a sensor detects goods mounting information, the tower crane control module generates a fourth motor control signal of a lifting hook and sends the fourth motor control signal to the motor, the motor controls the tower crane to run by the fourth motor control signal, the lifting hook is lifted, and the lifting hook is lifted after the falling hook and the hanging of the goods are realized.

Step S105: and receiving a second transportation instruction sent by the cockpit linkage table.

When the tower crane completes the cargo mounting link, the control right of the tower crane is given to the cockpit linkage table, and the cockpit linkage table is continuously operated by the tower crane. The cockpit linkage table sends a second transportation instruction to the tower crane control module, wherein the second transportation instruction is used for indicating the transportation lifting hook to a hook falling point, starting an air transportation link of a second stage, and the tower crane control module receives the second transportation instruction sent by the cockpit linkage table.

Step S106: and generating a second motor control signal from the transport hook to the hook falling point according to the second transport instruction, and sending the second motor control signal to the motor.

The tower crane control module generates a second motor control signal for transporting the lifting hook to the hooking point according to the second transporting instruction, and sends the second motor control signal to the motor, and the motor controls the operation of the tower crane by the second motor control signal, so that the lifting hook of the tower crane is transported to the hooking point.

Step S107: and receiving a second control instruction sent by the remote control module.

And after the tower crane completes the air transportation link of the second stage, the control right of the tower crane is given to the remote control module. Optionally, the signaler manipulation handheld end located at the hooking point interacts with a controller, and the controller sends a second control instruction to the tower crane control module, wherein the first control instruction is used for indicating cargo unloading. The tower crane control module receives the second control instruction sent by the remote control module.

Step S108: and generating a third motor control signal according to the second control instruction, sending the third motor control signal to the motor, and generating a fourth motor control signal after the sensor detects cargo unloading information and sending the fourth motor control signal to the motor.

After receiving the second control instruction, the tower crane control module firstly generates a third motor control signal of the falling hook and sends the third motor control signal to the motor, the motor controls the tower crane to run by the third motor control signal, the lifting hook is fallen down, after a worker unloads goods from the lifting hook, the sensor detects goods unloading information, the tower crane control module generates a fourth motor control signal of the lifting hook and sends the fourth motor control signal to the motor, the motor controls the tower crane to run by the fourth motor control signal, the lifting hook is lifted, and the unloading link is completed, namely the lifting hook is lifted after the goods are fallen down and unloaded.

In the control method of the lifting task provided by the embodiment, a tower driver operates a cockpit linkage table, the cockpit linkage table sends a transportation instruction to a tower crane control module, and the tower crane control module responds to the transportation instruction of the cockpit linkage table to realize an air transportation link of the lifting task; the signal worker operates the remote control module, the remote control module sends a control instruction to the tower crane control module, and the tower crane control module responds to the control instruction of the remote control module to realize the lifting hook link of the lifting task. Compared with the prior art that a signal worker is communicated with a tower, compared with the control method that the tower operates a cockpit linkage table to finish the lifting task, the control method provided by the embodiment of the invention has the advantages that the signal worker directly participates in the lifting task, the influence of information transmission on efficiency and safety is avoided, meanwhile, the tower is not required to participate in a lifting hook link, the tower is prevented from hanging at intervals, and the execution efficiency and safety of the lifting task are improved.

Optionally, in an embodiment, before receiving the first control instruction, or before receiving the second control instruction, the method further comprises: receiving a position adjustment instruction of a remote control module, wherein the position adjustment instruction is used for indicating the adjustment direction and the adjustment distance of a lifting hook, and the adjustment distance is smaller than a preset length; and generating a fifth motor control signal for adjusting the lifting hook according to the position adjustment instruction and sending the fifth motor control signal to the motor.

Specifically, in the air transportation link, when the tower crane operation control lifting hook reaches a lifting hook point, and when a certain distance exists between the position of the lifting hook and the optimal position of the lifting hook, before the mounting link or the unloading link, a signaler at the lifting hook point can operate the remote control module to send a position adjustment instruction to the tower crane control module to adjust the direction and the distance of the lifting hook, so that the tower crane control module responds to the position adjustment instruction of the remote control module to generate a fifth motor control signal for adjusting the lifting hook and send the fifth motor control signal to the motor to enable the motor to finely adjust the position of the lifting hook to the proper optimal position, then send a control instruction to the tower crane control module to control the lifting hook to drop and mount or unload, and then lift the lifting hook, thereby completing the lifting hook link.

By adopting the control method for the lifting task, the requirement on the operation precision of the tower can be reduced. After the lifting hook is transported to the approximate position of the lifting hook in the air transportation link, before the lifting hook is lifted, a signaler positioned at the lifting hook finely adjusts the position of the lifting hook, so that the lifting hook reaches a proper position, and the lifting task efficiency is further improved.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.

From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment.

The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.

Claims (10)

1. A handling control system, comprising:

the control system comprises a cockpit linkage table, a tower crane control module and a control system, wherein the cockpit linkage table is used for sending a first transport instruction and a second transport instruction to the tower crane control module, the first transport instruction is used for indicating a transport hook to a hook lifting point, and the second transport instruction is used for indicating the transport hook to a hook falling point;

the remote control module is used for sending a first control instruction and a second control instruction to the tower crane control module, wherein the first control instruction is used for indicating cargo mounting, and the second control instruction is used for indicating cargo unloading;

the tower crane control module is used for:

generating a first motor control signal from the transport hook to a hook lifting point according to the first transport instruction, and sending the first motor control signal to a motor;

generating a second motor control signal from the transport hook to the hook falling point according to the second transport instruction, and sending the second motor control signal to a motor;

generating a third motor control signal of the falling hook according to the first control instruction, sending the third motor control signal to the motor, generating a fourth motor control signal of the lifting hook after the sensor detects the cargo mounting information, and sending the fourth motor control signal to the motor;

and generating the third motor control signal according to the second control instruction, sending the third motor control signal to the motor, and generating the fourth motor control signal after the sensor detects cargo unloading information and sending the fourth motor control signal to the motor.

2. The overhead hoist control system of claim 1, further comprising: cockpit display end, wherein:

the remote control module is also used for sending a completion instruction to the cockpit display end after the cargo is mounted;

and the cockpit display end is used for displaying prompt information according to the completion instruction.

3. The overhead hoist control system of claim 2, further comprising: a management platform, wherein the management platform is used for:

receiving a task selection instruction sent by the remote control module, wherein the remote control module is further used for generating the task selection instruction when receiving task selection operation input by a user;

determining a target task in a lifting task list according to the task selection instruction;

determining a cockpit display end corresponding to the target task; and

and sending an execution instruction of the target task to a cockpit display end corresponding to the target task, wherein the cockpit display end is further used for displaying task information of the target task according to the execution instruction.

4. A handling control system according to claim 3, wherein the remote control module is further configured to:

receiving task creation operation input by a user;

creating a lifting task according to the task creation operation; and

and sending the lifting task to the management platform.

5. The overhead hoist control system of claim 4, characterized in that the step of creating overhead hoist tasks from the task creation operation includes:

responding to a task new operation, and displaying a task new page, wherein the task new page comprises an area map and a parameter input component;

responding to a starting point selection operation and an ending point selection operation of a user on the regional map, and determining a lifting hook point of a lifting task;

receiving lifting parameters input by a user at the parameter input assembly, wherein the lifting parameters comprise a lifting type, a lifting size, a lifting rope length, a planning time, a predicted lifting time and/or application priority;

and creating the lifting task according to the lifting hook point and the lifting parameter.

6. The overhead hoist control system of claim 4, wherein the remote control module includes a handheld end for receiving user operations and a controller that interacts with the handheld end, wherein:

when the handheld terminal sends first user information to the controller, the controller works in a first mode, wherein the first mode is used for receiving the task selection operation;

when the handheld terminal sends second user information to the controller, the controller works in a second mode, wherein the second mode is used for receiving the task creation operation.

7. The overhead hoist control system of claim 6, wherein the handheld ends include a first handheld end for receiving user operations of lifting hooks and hanging cargo and a second handheld end for receiving user operations of lifting hooks and unloading cargo.

8. The handling control system of claim 6, wherein,

the controller is also used for carrying out heartbeat monitoring on the handheld end, and sending a control instruction for stopping operation to the tower crane control module when the heartbeat monitoring is abnormal;

the controller is also used for carrying out safety monitoring on the operation of the tower crane, and sending a stop operation control instruction to the tower crane control module when the safety monitoring is abnormal.

9. The control method of the lifting task is characterized by comprising the following steps:

receiving a first transport instruction sent by a cockpit linkage table, wherein the first transport instruction is used for indicating a transport hook to a hook lifting point;

generating a first motor control signal from the transport hook to a hook lifting point according to the first transport instruction, and sending the first motor control signal to a motor;

receiving a first control instruction sent by a remote control module, wherein the first control instruction is used for indicating cargo mounting;

generating a third motor control signal of the falling hook according to the first control instruction, sending the third motor control signal to the motor, generating a fourth motor control signal of the lifting hook after the sensor detects the cargo mounting information, and sending the fourth motor control signal to the motor;

receiving a second transport instruction sent by the cockpit linkage table, wherein the second transport instruction is used for indicating a transport hook to a hook falling point;

generating a second motor control signal from the transport hook to the hook falling point according to the second transport instruction, and sending the second motor control signal to a motor;

receiving a second control instruction sent by the remote control module, wherein the second control instruction is used for indicating cargo unloading;

and generating the third motor control signal according to the second control instruction, sending the third motor control signal to the motor, and generating the fourth motor control signal after the sensor detects cargo unloading information and sending the fourth motor control signal to the motor.

10. The method of claim 9, wherein prior to receiving the first control command or prior to receiving the second control command, the method further comprises:

receiving a position adjustment instruction of the remote control module, wherein the position adjustment instruction is used for indicating an adjustment direction and an adjustment distance of the lifting hook, and the adjustment distance is smaller than a preset length; and

generating a fifth motor control signal for adjusting the lifting hook according to the position adjustment instruction, and sending the fifth motor control signal to the motor.