CN210655880U - Tower crane automatic control system based on two-dimensional code - Google Patents
Tower crane automatic control system based on two-dimensional code Download PDFInfo
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- CN210655880U CN210655880U CN201921225342.8U CN201921225342U CN210655880U CN 210655880 U CN210655880 U CN 210655880U CN 201921225342 U CN201921225342 U CN 201921225342U CN 210655880 U CN210655880 U CN 210655880U
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Abstract
The utility model discloses a tower crane automatic control system based on two-dimensional code, it includes tower crane operation control module, tower crane operation monitoring module, handheld terminal and industrial computer, the industrial computer with tower crane operation control module reaches tower crane operation monitoring module communication connection, handheld terminal with industrial computer communication connection; the tower crane operation control module comprises a frequency converter, a tower crane large arm rotary motor, a trolley amplitude variation motor and a lifting hook lifting mechanism motor, the industrial personal computer stores three-dimensional map information of a tower crane operation field, and the handheld terminal is used for scanning and acquiring two-dimensional code position information of tower crane transportation materials. The utility model provides a technical scheme, its is rational in infrastructure, and constructor scans the two-dimensional code of material start and end position through handheld terminal, sends material start and end positional information and control command for the industrial computer through operating the button, and the industrial computer accomplishes the transportation of material according to preset information and the real-time operation information of tower crane, planning trajectory control.
Description
Technical Field
The utility model belongs to the technical field of tower crane automatic control, especially, relate to a tower crane automatic control system based on two-dimensional code.
Background
The tower crane is the most common hoisting equipment on the construction site, also called tower crane, and is used for hoisting construction raw materials such as reinforcing steel bars, wood ridges, concrete, steel pipes and the like for construction by the extension (height) of one section and one section (called standard section for short).
The tower crane as a modern transportation machine has wide application in the fields of buildings, wharfs, metallurgy and the like, and the safety problem of the tower crane cannot be ignored along with the wide use of the tower crane. The operation of the existing tower crane is cooperatively controlled by a tower crane driver sitting in a tower crane cab and a tower crane signal worker on the ground, so that the requirements on the proficiency and the operation precision of an operator are high, a large amount of repetitive labor work is realized, fatigue is easily caused, and potential safety hazards are brought.
Among the prior art, there is a tower crane remote controller product, but tower crane remote controller product must operate in operating personnel sight range, in case get into the field of vision blind area, will bring great potential safety hazard, and these remote control products also can not obtain the wide application at the building site.
Therefore, a tower crane automatic control system based on two-dimensional codes needs to be designed urgently to solve the technical problems in the prior art.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the partial technical problem that exists among the prior art to a certain extent at least, the tower crane automatic control system based on two-dimensional code that provides, its is rational in infrastructure, operating personnel only need use handheld terminal scanning material to start and end the two-dimensional code of position, through operating button, just can start and end positional information and control command with the material and send for the industrial computer, the industrial computer is according to the map that sets up in advance, barrier information and the real-time operation parameter information of tower crane, the transportation of material is accomplished in automatic planning trajectory control, good spreading value has.
In order to solve the technical problem, the utility model provides a tower crane automatic control system based on two-dimensional code, which comprises a tower crane operation control module, a tower crane operation monitoring module, a handheld terminal and an industrial personal computer, wherein the industrial personal computer is in communication connection with the tower crane operation control module and the tower crane operation monitoring module, and the handheld terminal is in communication connection with the industrial personal computer; the tower crane operation control module comprises a frequency converter, a tower crane large arm rotary motor, a trolley amplitude motor and a lifting hook lifting mechanism motor, the tower crane operation monitoring module comprises a tower crane rotary angle sensor, a trolley amplitude sensor, a lifting hook lifting height sensor, a barrier detection module, a video monitoring module and a data acquisition module, the industrial personal computer stores three-dimensional map information of a tower crane operation field, and the handheld terminal is used for scanning and acquiring two-dimensional code position information of tower crane transportation materials.
In some embodiments, the three-dimensional map information of the tower crane operation site includes all tower crane position information and technical parameter information in the tower crane operation site.
In some embodiments, the industrial personal computer further stores two-dimensional code information corresponding to the starting position of the tower crane.
In some embodiments, the tower crane large arm rotary motor, the trolley amplitude varying motor and the lifting hook lifting mechanism motor are all provided with traveling limiters.
In some embodiments, the tower crane slewing angle sensor, the trolley amplitude sensor and the lifting hook lifting height sensor are connected with the data acquisition unit and all adopt magnetic rotation angle encoders.
In some embodiments, the obstacle detection unit is mounted at the hook and is in communication connection with the industrial personal computer through a radio station.
In some embodiments, the video monitoring unit is mounted on the luffing trolley and is in communication connection with the industrial personal computer through a wireless network bridge.
In some embodiments, the number of the handheld terminals is multiple, and the handheld terminals and the industrial personal computer are connected through a wireless network.
In some embodiments, the handheld terminal has a camera, an acceleration sensor, and a gyroscope sensor.
In some embodiments, the data acquisition module and the frequency converter are connected to the industrial personal computer CAN bus interface via a CAN bus.
The utility model discloses beneficial effect:
the utility model provides a pair of tower crane automatic control system based on two-dimensional code, its is rational in infrastructure, and operating personnel only need use handheld terminal scanning material to start and end the two-dimensional code of position, through operating the button, just can send material start and end positional information and control command for the industrial computer, and the industrial computer is according to preset map, barrier information and the real-time operating parameter information of tower crane, and the transportation of material is accomplished in automatic planning trajectory control, has good spreading value.
Drawings
The above advantages of the present invention will become more apparent and more readily appreciated from the detailed description taken in conjunction with the following drawings, which are given by way of illustration only and do not limit the present invention, and in which:
FIG. 1 is a schematic block diagram of an automatic control system of a tower crane based on a two-dimensional code according to the utility model;
fig. 2 is a flow chart according to the utility model discloses tower crane automatic control system based on two-dimensional code's use flow chart.
Detailed Description
Fig. 1 and fig. 2 are the relevant schematic diagrams of a tower crane automatic control system based on two-dimensional code, this application, and it is right to combine specific embodiment and attached drawing below the utility model discloses carry out the detailed description.
The embodiments described herein are specific embodiments of the present invention, and are intended to be illustrative of the concepts of the present invention, which are intended to be illustrative and exemplary, and should not be construed as limiting the scope of the embodiments of the present invention. In addition to the embodiments described herein, those skilled in the art will be able to employ other technical solutions which are obvious based on the disclosure of the claims and the specification of the present application, and these technical solutions include technical solutions which make any obvious replacement or modification for the embodiments described herein.
The drawings in the present specification are schematic views to assist in explaining the concept of the present invention, and schematically show the shapes of the respective portions and the mutual relationships thereof. It should be noted that for the sake of clarity in showing the structures of the various components of the embodiments of the present invention, the drawings are not drawn to the same scale. Like reference numerals are used to denote like parts.
The structure schematic diagram of the tower crane automatic control system based on the two-dimensional code is shown in fig. 1 and comprises a tower crane operation control module, a tower crane operation monitoring module, a handheld terminal and an industrial personal computer, wherein the industrial personal computer is in communication connection with the tower crane operation control module and the tower crane operation monitoring module, and the handheld terminal is in communication connection with the industrial personal computer; the tower crane operation control module comprises a frequency converter, a tower crane large arm rotary motor, a trolley amplitude motor and a lifting hook lifting mechanism motor, the tower crane operation monitoring module comprises a tower crane rotary angle sensor, a trolley amplitude sensor, a lifting hook lifting height sensor, a barrier detection module, a video monitoring module and a data acquisition module, the industrial personal computer stores three-dimensional map information of a tower crane operation field, and the handheld terminal is used for scanning and acquiring two-dimensional code position information of tower crane transportation materials.
In the utility model, the industrial personal computer stores three-dimensional map information of the tower crane operation field; the handheld terminal scans two-dimensional codes at the hoisting start position and the target position to acquire hoisting information, and the control center performs path planning by combining the acquired real-time running state of the tower crane and the obstacle information so as to automatically complete hoisting control.
Specifically, firstly, two-dimensional codes at hoisting starting and target positions are scanned through a handheld terminal to obtain information of the hoisting starting and target positions, then a control center is combined with prestored three-dimensional map information in an operation field, including a barrier region and a free running region, and a running path is generated according to a fast expansion random tree algorithm; and finally, the control center controls the operation control module to finish hoisting according to the generated planned path and the barrier monitoring information detected in real time.
Constructors only need to use the handheld terminal to scan the two-dimensional code of the material lifting position and the material unloading position, and can send information of the material lifting position, the material unloading position and a control instruction to the industrial personal computer through operating keys, and the industrial personal computer automatically plans the track to control and finish the transportation of the material according to a preset map, barrier information and tower crane real-time operation parameter information.
As an embodiment of the utility model, the three-dimensional map information in tower crane operation place includes whole tower crane positional information and technical parameter information in the tower crane operation place. Specifically, the technical parameter information at least comprises information such as the operation radius of the tower crane and an early warning threshold value, so that the industrial personal computer can automatically plan and obtain a hoisting transportation route according to overall arrangement of the tower crane and information of adjacent tower cranes.
In some embodiments, the industrial computer further stores two-dimensional code information corresponding to the starting position of the tower crane, so that the two-dimensional code of the position information is scanned through the handheld terminal and belongs to the industrial computer, and the industrial computer acquires the starting position and the ending position of the material according to the stored position information.
As the utility model discloses an on the other hand, tower crane operation control module includes that big arm gyration unit, dolly become width of cloth unit and lifting hook hoisting unit, big arm gyration unit, dolly become width of cloth unit and lifting hook hoisting unit all are provided with the driving stopper.
As an embodiment of the utility model, tower crane operation monitoring module includes tower crane gyration angle sensor, dolly amplitude sensor, lifting hook promotion height sensor, barrier detection unit, video monitoring unit and data acquisition unit, tower crane gyration angle sensor, dolly amplitude sensor and lifting hook promote height sensor and be connected with data acquisition unit and it all adopts magnetism rotation angle encoder.
As an embodiment of the utility model, obstacle detecting element installs in lifting hook department, through wireless mode and industrial computer communication connection. In some embodiments, the obstacle detection unit is in communication with the industrial personal computer through a radio station.
As an embodiment of the utility model, the video monitoring unit is installed on becoming width of cloth dolly, through wireless mode and industrial computer communication connection. In some embodiments, the video monitoring unit is in communication with the industrial personal computer through a wireless bridge.
In some embodiments, the number of the handheld terminals is multiple, and the handheld terminals and the industrial personal computer are connected through a wireless network. In some embodiments, the handheld terminal has a camera, an acceleration sensor, and a gyroscope sensor.
The handheld terminal comprises a tower crane control application, a control release, a power failure emergency stop, a reset, a lifting, a parking, an operation locking and a locking release button, in some embodiments, the handheld terminal is a notebook computer, and at least six direction operation buttons including a tower crane movement direction large arm rotation button, a trolley amplitude change button and a lifting hook lifting up-down direction operation button, a front direction operation button, a rear direction operation button, a left direction operation button and a right direction operation button are arranged on the handheld terminal.
The following is briefly described, the utility model also discloses a tower crane automatic control system's application method based on two-dimensional code, its flow chart, as shown in fig. 2, specifically includes following steps:
s1, storing and setting three-dimensional map information, tower crane position information and technical parameter information of a tower crane operation site and two-dimensional code information corresponding to a tower crane initial position in an industrial personal computer;
s2, scanning and confirming the two-dimensional codes of the material lifting position and the material unloading position through the handheld terminal, and sending lifting and unloading operation instructions;
s3, the industrial personal computer performs tower crane path planning according to the operation instruction and sends the corresponding operation instruction to the tower crane operation control module to guide the operation of each part of the tower crane;
s4, in the operation control process, the industrial personal computer obtains parameters of the tower crane and peripheral obstacle information in real time through the tower crane operation monitoring module, and mechanical operation is suspended when early warning information is triggered until the triggering condition is eliminated;
s5, finely adjusting the hoisting materials in all directions through the handheld terminal and locking the tower crane;
and S6, after the materials are loaded and unloaded, performing contact locking operation on the tower crane and giving a next instruction through the handheld terminal.
The utility model provides a pair of tower crane automatic control system based on two-dimensional code, its is rational in infrastructure, and operating personnel only need use handheld terminal scanning material to start and end the two-dimensional code of position, through operating the button, just can send material start and end positional information and control command for the industrial computer, and the industrial computer is according to preset map, barrier information and the real-time operating parameter information of tower crane, and the transportation of material is accomplished in automatic planning trajectory control, has good spreading value.
The present invention is not limited to the above embodiments, and any person can obtain other products in various forms without departing from the scope of the present invention, but any change in shape or structure is included in the technical solution that is the same as or similar to the present invention.
Claims (10)
1. A tower crane automatic control system based on two-dimensional codes is characterized by comprising a tower crane operation control module, a tower crane operation monitoring module, a handheld terminal and an industrial personal computer, wherein the industrial personal computer is in communication connection with the tower crane operation control module and the tower crane operation monitoring module, and the handheld terminal is in communication connection with the industrial personal computer; the tower crane operation control module comprises a frequency converter, a tower crane large arm rotary motor, a trolley amplitude motor and a lifting hook lifting mechanism motor, the tower crane operation monitoring module comprises a tower crane rotary angle sensor, a trolley amplitude sensor, a lifting hook lifting height sensor, a barrier detection module, a video monitoring module and a data acquisition module, the industrial personal computer stores three-dimensional map information of a tower crane operation field, and the handheld terminal is used for scanning and acquiring two-dimensional code position information of tower crane transportation materials.
2. The automatic tower crane control system based on the two-dimensional code as claimed in claim 1, wherein the three-dimensional map information of the tower crane operation site comprises all tower crane position information and technical parameter information in the tower crane operation site.
3. The tower crane automatic control system based on the two-dimensional code as claimed in claim 1, wherein the industrial personal computer further stores two-dimensional code information corresponding to the starting position of the tower crane.
4. The automatic tower crane control system based on the two-dimensional code as claimed in claim 1, wherein the tower crane large arm rotary motor, the trolley luffing motor and the lifting hook lifting mechanism motor are all provided with traveling stoppers.
5. The automatic tower crane control system based on the two-dimensional code as claimed in claim 1, wherein the tower crane rotation angle sensor, the trolley amplitude sensor and the lifting hook lifting height sensor are connected with the data acquisition unit and all adopt magnetic rotation angle encoders.
6. The tower crane automatic control system based on the two-dimensional code as claimed in claim 1, wherein the obstacle detection unit is installed at a lifting hook and is in communication connection with an industrial personal computer through a radio station.
7. The tower crane automatic control system based on the two-dimensional code as claimed in claim 5, wherein the video monitoring unit is mounted on the luffing trolley and is in communication connection with the industrial personal computer through a wireless network bridge.
8. The tower crane automatic control system based on the two-dimensional code as claimed in claim 1, wherein the number of the handheld terminals is multiple, and the handheld terminals and the industrial personal computer are connected through a wireless network.
9. The tower crane automatic control system based on two-dimensional code of claim 8, characterized in that, the handheld terminal has camera, acceleration sensor and gyroscope sensor.
10. The tower crane automatic control system based on the two-dimensional code as claimed in claim 1, wherein the data acquisition module and the frequency converter are connected with the CAN bus interface of the industrial personal computer through a CAN bus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921225342.8U CN210655880U (en) | 2019-07-31 | 2019-07-31 | Tower crane automatic control system based on two-dimensional code |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921225342.8U CN210655880U (en) | 2019-07-31 | 2019-07-31 | Tower crane automatic control system based on two-dimensional code |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110482409A (en) * | 2019-07-31 | 2019-11-22 | 中国建筑股份有限公司 | A kind of tower crane automatic control system and control method based on two dimensional code |
| CN112010209A (en) * | 2020-09-30 | 2020-12-01 | 程霖锋 | Multifunctional integrated tower crane operation system |
-
2019
- 2019-07-31 CN CN201921225342.8U patent/CN210655880U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110482409A (en) * | 2019-07-31 | 2019-11-22 | 中国建筑股份有限公司 | A kind of tower crane automatic control system and control method based on two dimensional code |
| CN110482409B (en) * | 2019-07-31 | 2024-04-09 | 中国建筑股份有限公司 | Tower crane automatic control system and control method based on two-dimension code |
| CN112010209A (en) * | 2020-09-30 | 2020-12-01 | 程霖锋 | Multifunctional integrated tower crane operation system |
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Address after: 100029 building 3, yard 5, Anding Road, Chaoyang District, Beijing Patentee after: CHINA STATE CONSTRUCTION ENGINEERING Corp.,Ltd. Patentee after: China Construction Engineering Industry Technology Research Institute Co.,Ltd. Address before: 100029 building 3, yard 5, Anding Road, Chaoyang District, Beijing Patentee before: CHINA STATE CONSTRUCTION ENGINEERING Corp.,Ltd. Patentee before: ZHONGJIAN ENGINEERING RESEARCH INSTITUTE Co.,Ltd. |