CN201703985U

CN201703985U - Full-automatic tower crane control system

Info

Publication number: CN201703985U
Application number: CN2009201998518U
Authority: CN
Inventors: 张苏敏; 石松泉
Original assignee: University of Shaoxing
Current assignee: University of Shaoxing
Priority date: 2009-11-19
Filing date: 2009-11-19
Publication date: 2011-01-12
Anticipated expiration: 2019-11-19

Abstract

The utility model discloses a full-automatic tower crane control system, which comprises a hand GPS controller, a lifting hook GPS position sensor and a central controller, wherein the hand GPS controller, the lifting hook GPS position sensor and the central controller mutually carry out signal transmission through wireless communication modules; the lifting hook GPS position sensor is fixed on a lifting hook; the central controller is mounted on a tower crane driving cab; and the hand GPS controller is placed on a tower driver. The full-automatic tower crane control system provided by the utility model overcomes the defects of the original system, comprehensively takes into account of the lifting, transportation, obstacle avoidance and other control problems of heavy objects, and has the advantages of safety and high efficiency.

Description

Full-automatic control system of tower crane

Technical field

The utility model relates to a kind of full-automatic control system of tower crane, especially comprises the autonomous cruise speed system of a comprehensive weight transportation.

Background technology

Tower crane is widely used in occasions such as building, harbour, railway freight as a kind of transportation means.At present tower crane all is that tower department by the operator's compartment that is positioned at the tower crane top carries out construction hoisting and operates.Because the restriction of this body structure of tower crane, the sight line of tower department has the dead angle unavoidably, near ground the time, needs the surface work personnel to make a gesture and gets in touch with, and is difficult to ensure the accuracy of operation.So tower department is the work position that labour intensity is big, responsibility is heavy, all will climb up and climb down every day, abnormally dangerous.Become a kind of inevitable trend so design a kind of autonomous cruise speed system that can replace tower department to operate.

The patent No. is that 200410037882.5 by name " tower crane wireless remote control operating system " provides a kind of solution, adopts ground remote control device operation tower crane.This method, because the restriction of ground staff's sight line, skill level, if misoperation may cause serious consequence; And operating efficiency is not high.So it is impracticable.

The utility model content

In order to address the above problem, the purpose of this utility model is to provide a kind of full-automatic control system of tower crane, the utility model overcomes above-mentioned defective, take all factors into consideration weight lifting, transport, keep away control problems such as barrier, a kind of safe, full-automatic control system of tower crane efficiently is provided.

For reaching above-mentioned purpose, the utility model adopts following technical scheme,

A kind of full-automatic control system of tower crane is made of handhold GPS controller, suspension hook GPS position transduser and central controller; Wherein carry out the signal transmission by wireless communication module mutually between handhold GPS controller, suspension hook GPS position transduser and the central controller; Wherein suspension hook GPS position transduser is fixed on the suspension hook; Central controller is installed in the tower crane operator's compartment; The handhold GPS controller is placed in tower department on hand.

Described handhold GPS controller is made of first wireless communication module, first power supply, first processor, first gps receiver, first toggle switch, guidance panel; Wherein first wireless communication module, first power supply, first gps receiver, first toggle switch and guidance panel are connected with first processor respectively.

Suspension hook request and release-push are installed on the described guidance panel, read-out, GPS and wireless signal state display lamp and suspension hook control state display lamp and suspension hook direction control button, wherein suspension hook direction control button comprises the first fine tuning switch, the second fine tuning switch, the 3rd fine tuning switch, and the first fine tuning switch, the second fine tuning switch, the 3rd fine tuning switch is connected with first processor respectively.

Described suspension hook GPS position transduser is made of second wireless communication module, second source, second treater, second gps receiver, toggle switch; Wherein second wireless communication module, second source, second gps receiver and second toggle switch are connected with second treater respectively.

Described central controller is made of the 3rd wireless communication module, the 3rd power supply, the 3rd treater and driving output block; Wherein the 3rd wireless communication module, the 3rd power supply and driving output block are connected with the 3rd treater respectively.

The beneficial effects of the utility model are: this utility model central controller is by GPS information, planning control suspension hook mobile route, control is given the handhold GPS controller after arriving objective, hand held controller fine tuning suspension hook is to rational position, surrender controller then, other handhold GPS controller request suspension hook repeats said process.Thereby department frees with tower, the utility model take all factors into consideration weight lifting, transport, keep away control problems such as barrier, a kind of safe, full-automatic control system of tower crane efficiently is provided; Realize the automatic guidance of suspension hook, improved the work efficiency of tower crane.

Description of drawings

Fig. 1 is the utility model handhold GPS controller scheme drawing;

Fig. 2 is the utility model suspension hook GPS position transduser scheme drawing;

Fig. 3 is the utility model central controller scheme drawing;

Fig. 4 is the structural representation of the utility model handhold GPS controller function panel.

The specific embodiment

As shown in Figures 1 to 4.A kind of full-automatic control system of tower crane is made of handhold GPS controller 1, suspension hook GPS position transduser 2 and central controller 3; Wherein carry out the signal transmission by wireless communication module mutually between handhold GPS controller 1, suspension hook GPS position transduser 2 and the central controller 3; Wherein suspension hook GPS position transduser 2 is fixed on the suspension hook; Central controller 3 is installed in the tower crane operator's compartment; Handhold GPS controller 1 is placed in tower department on hand.

Handhold GPS controller 1 is made of first wireless communication module 11, first power supply 12, first processor 13, first gps receiver 14, first toggle switch 15, guidance panel 16; Wherein first wireless communication module 11, first power supply 12, first gps receiver 14, first toggle switch 15 are connected with first processor 13 respectively with guidance panel 16.Suspension hook request and release-push 84 are installed on the guidance panel 16, read-out 85, GPS and wireless signal state display lamp 80 and suspension hook control state display lamp 86 and suspension hook direction control button, wherein suspension hook direction control button comprises the first fine tuning switch, 81 second fine tuning switches 82, the 3rd fine tuning switch 83, and the first fine tuning switch, 81 second fine tuning switches, 82, the three fine tuning switches 83 are connected with first processor 13 respectively.

Suspension hook GPS position transduser 2 is made of second wireless communication module 21, second source 22, second treater 23, second gps receiver 24, toggle switch 25; Wherein second wireless communication module 21, second source 22, second gps receiver 24 and second toggle switch 25 are connected with second treater 23 respectively.

Central controller 3 is made of the 3rd wireless communication module 31, the 3rd power supply 32, the 3rd treater 33 and driving output block 34; Wherein the 3rd wireless communication module 31, the 3rd power supply 32 and driving output block 34 are connected with the 3rd treater 33 respectively.

Wherein handhold GPS controller 1 is pressed suspension hook request and release-push 84 earlier, and the request suspension hook moves to handhold GPS controller 1 current location.To ask the GPS information transfer of suspension hook order and handhold GPS controller 1 self to give central controller 3 by wireless communication module, central controller 3 sends the order of request suspension hook GPS to suspension hook GPS position transduser 2 by wireless communication module, suspension hook GPS position transduser 2 sends it back central controller 3 with Current GPS information by wireless communication module after receiving querying command, the GPS information of the Current GPS information that central controller 3 obtains by suspension hook GPS position transduser 2 and handhold GPS controller 3 self, plan the suspension hook mobile route, drive corresponding motor operation, suspension hook is arrived near handhold GPS controller 3 positions.Central controller 3 is given handhold GPS controller 1 with the control of suspension hook subsequently, and handhold GPS controller 1 is adjusted to rational position with suspension hook and loaded and unloaded goods by suspension hook direction control button.Discharge handhold GPS controller 1 after finishing by suspension hook request and release-push 84, notice central controller 3 suspension hook controls discharge, central controller 3 is waited for the request signal of next handhold GPS controller 1 again to the ready order of each handhold GPS controller 1 broadcasting suspension hook.

Setting operation before using first: suspension hook GPS position transduser 2 and central controller 3 addresses at first will be set, and suspension hook GPS position transduser 2 is fixed on back energized on the suspension hook.Next is that central controller 3 is installed in the tower crane operator's compartment, and address between central controller 3, suspension hook GPS position transduser 2 and the handhold GPS controller 1 is set, output control is connected respectively on the cooresponding former switch position then, checks that errorless back is connected to the driving indoor power supply to power supply.Be will handhold GPS controller 1 and central controller 3 addresses be set at last, start then.

System carries out aforesaid initialization procedure.Communication initialization: central controller 3 sends Query Information according to the suspension hook GPS position transduser 2 that is provided with and the address of handhold GPS controller 1, if do not receive the response message that suspension hook GPS position transduser 2 and handhold GPS controller 3 are correct at the appointed time, then initialization failure, sound and light alarm.After suspension hook GPS position transduser 2 is finished the address setting start, if do not receive the Query Information of central controller 3 at the appointed time, then initialization failure, sound and light alarm.After handhold GPS controller 1 is finished the address setting start, if do not receive the Query Information of central controller 3 at the appointed time, then initialization failure, sound and light alarm.If central controller 3 sends Query Information, suspension hook GPS position transduser 2 and handhold GPS controller 1 by appointment and can receive Query Information and send normal response message, central controller 2 can be received their response message, then initialization success.Central controller 3, suspension hook GPS position transduser 2 and handhold GPS controller 1 send the acoustic and light information of initialization success.

Behind the communication initialization, central controller 3 is waited for the suspension hook request signal of handhold GPS controller 1 to the ready order of each handhold GPS controller 1 broadcasting suspension hook.

Press suspension hook request and release-push 84 as a handhold GPS controller 1, information from the first processor in the handhold GPS controller 1 33 sends by first

wireless communication module

11 and 31 receptions of the 3rd wireless communication module, self the GPS information transfer that request suspension hook order and handhold GPS controller 1 are received by a GPS receiver module 14 is given the 3rd treater 33 in the central controller 3, the 3rd treater 33 is given an order then, send and 21 receptions of second wireless communication module by the 3rd wireless communication module 31, second treater 23 in suspension hook GPS position transduser 2 sends the order of request suspension hook GPS, second treater 23 receives GPS information by the 2nd GPS receiver module 24 after receiving querying command, Current GPS information is sent by second wireless communication module 21, the 3rd wireless communication module 31 receives, beam back the 3rd treater 33 in the central controller 3, the GPS information of the Current GPS information that the 3rd treater 33 obtains by suspension hook GPS position transduser 2 and handhold GPS controller 3 self, plan the suspension hook mobile route, drive corresponding motor operation by driving output block 34, suspension hook is arrived near the position of handhold GPS controller 3 requests, send by the 3rd wireless communication module 31 then, first wireless communication module 11 receives, and the first processor 13 of handhold GPS controller 1 given the control of suspension hook by the 3rd treater 33 of central controller 3.

If at this moment final suspension hook position is unreasonable, can carry out fine tuning by first button 81, second button 82 and the 3rd button 83 of handhold GPS controller 1.First button 81 makes progress on time, the motion of suspension hook cw; Downwards on time, suspension hook conter clockwise motion.Second button 82 makes progress on time, and suspension hook rises; Downwards on time, suspension hook descends.The 3rd button 83 makes progress on time, and suspension hook advances on arm; Downwards on time, suspension hook retreats on arm.When suspension hook is adjusted to correct position, and after loading and unloading goods finishes, press suspension hook request and release-push 84 release suspension hook requests again.All operating process meetings show in display panel 85.Signal sends by first

wireless communication module

11 and 31 receptions of the 3rd wireless communication module then, after making the suspension hook control release command that central controller 3 receives that handhold GPS controller 1 sends, inquire about suspension hook GPS information earlier, broadcast the ready order of suspension hook again, wait for the request signal of next handhold GPS controller 1.When GPS communicated by letter with wireless signal GPS, GPS and wireless signal state display lamp 80 were bright in the wherein whole process, and when suspension hook had the control order, suspension hook control state display lamp 86 was bright.Repeat the action of the preceding paragraph then.Thereby department frees with tower, realizes the automatic guidance of suspension hook, has improved the work efficiency of tower crane.

Claims

1. a full-automatic control system of tower crane is characterized in that: be made of handhold GPS controller (1), suspension hook GPS position transduser (2) and central controller (3); Wherein carry out the signal transmission by wireless communication module mutually between handhold GPS controller (3), suspension hook GPS position transduser (2) and the central controller (3); Wherein suspension hook GPS position transduser (2) is fixed on the suspension hook; Central controller (3) is installed in the tower crane operator's compartment; Handhold GPS controller (1) is placed in tower department on hand.

2. full-automatic control system of tower crane as claimed in claim 1 is characterized in that: described handhold GPS controller (1) is made of first wireless communication module (11), first power supply (12), first processor (13), first gps receiver (14), first toggle switch (15), guidance panel (16); Wherein first wireless communication module (11), first power supply (12), first gps receiver (14), first toggle switch (15) and guidance panel (16) are connected with first processor (13) respectively.

3. full-automatic control system of tower crane as claimed in claim 1 or 2, it is characterized in that: suspension hook request and release-push (84) are installed on the described guidance panel (16), read-out (85), GPS and wireless signal state display lamp (80) and suspension hook control state display lamp (86) and suspension hook direction control button, wherein suspension hook direction control button comprises the first fine tuning switch (81) second fine tuning switches (82), the 3rd fine tuning switch (83), and the first fine tuning switch (81) second fine tuning switches (82), the 3rd fine tuning switch (83) is connected with first processor (13) respectively.

4. full-automatic control system of tower crane as claimed in claim 1 is characterized in that: described suspension hook GPS position transduser (2) is made of second wireless communication module (21), second source (22), second treater (23), second gps receiver (24), toggle switch (25); Wherein second wireless communication module (21), second source (22), second gps receiver (24) and second toggle switch (25) are connected with second treater (23) respectively.

5. full-automatic control system of tower crane as claimed in claim 1 is characterized in that: described central controller (3) is by the 3rd wireless communication module (31), the 3rd power supply (32), the 3rd treater (33) and drive output block (34) formation; Wherein the 3rd wireless communication module (31), the 3rd power supply (32) and driving output block (34) are connected with the 3rd treater (33) respectively.