CN210682989U - Automatic control terminal of tower crane - Google Patents
Automatic control terminal of tower crane Download PDFInfo
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- CN210682989U CN210682989U CN201921785251.XU CN201921785251U CN210682989U CN 210682989 U CN210682989 U CN 210682989U CN 201921785251 U CN201921785251 U CN 201921785251U CN 210682989 U CN210682989 U CN 210682989U
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Abstract
The utility model discloses a tower crane automatic control terminal, including treater, sensor signal acquisition processing unit, action instruction unit, communication unit, backend server and the collection module of making a video recording. The processor is used for processing and analyzing the current real-time operation parameters of the tower crane and the related parameters issued by the background server, generating a track route and controlling the tower crane to automatically operate; the communication unit is used for data communication between the processor and the background server, and the action instruction unit is used for controlling the movement of the tower crane trolley, the rotation of the cargo boom and the movement of the lifting hook; the sensor signal acquisition and processing unit acquires the motion information and the real-time position of the current tower crane trolley, the crane boom and the lifting hook. The terminal realizes the function of automatic driving of the tower crane, replaces a large amount of repetitive work of a tower crane operator, and simultaneously barrier information can be automatically identified by the automatic control terminal of the tower crane in real time without being input manually in advance, so that errors existing in manual measurement and input are reduced.
Description
Technical Field
The utility model belongs to the technical field of tower crane automatic control, concretely relates to tower crane automatic control terminal.
Background
The control system of the tower crane (hereinafter referred to as the tower crane) is widely applied to various hoisting machines through a sensor technology, realizes effective monitoring of the working condition and the operating parameters of the control system, provides reliable data for a tower crane operator to drive the tower crane, and simultaneously, the tower crane operator can control a cargo boom, a lifting hook and the like through the control system to complete field production operation.
However, the traditional tower crane control system has certain defects, when the tower crane is controlled to operate, obstacle avoidance and hoisting are carried out, each step needs to depend on the operation of a tower crane driver, and for a plurality of repeated tower crane actions, long-time operation easily causes the driver to be tired, so that the occurrence probability of safety accidents is increased. Therefore, it is urgently needed to develop an automatic control operation system of a tower crane to replace the work of a driver, and the automatic driving of the tower crane between a material point and a discharge point is realized while the real-time operation parameters of the tower crane are acquired.
SUMMERY OF THE UTILITY MODEL
Utility model purpose: the utility model aims at solving the not enough among the prior art, provide a tower crane automatic control terminal for at the job site according to material point coordinate, unloading point coordinate and barrier information on every side, the automatic orbit route that generates realizes the autopilot between material point, unloading point, replace tower machine operator to accomplish a large amount of repeatability actions, avoid tower machine operator because of the tired incident that causes of repetitive operation.
The technical scheme is as follows: the utility model discloses an automatic control terminal of tower crane, including treater, sensor signal acquisition processing unit, action instruction unit, communication unit, backend server and camera shooting collection module, the treater respectively with sensor signal acquisition processing unit, action instruction unit, communication unit are connected, communication unit connects backend server, camera shooting collection module respectively;
the processor is used for processing and analyzing the current real-time operation parameters of the tower crane and the related parameters issued by the background server, generating a track route and controlling the tower crane to automatically operate; the communication unit is used for data communication between the processor and the background server, and the action instruction unit is used for controlling the movement of a tower crane trolley, the rotation of a cargo boom and the movement of a lifting hook; the sensor signal acquisition and processing unit acquires the motion information and real-time positions of the current tower crane trolley, the crane boom and the lifting hook; the camera shooting acquisition module acquisition equipment is used for monitoring peripheral environment information in the operation process of the tower crane and the relative motion condition of the lifting hook when the tower crane is lifted.
Further, the processor adopts an ARMCortex-A7 processor chip.
Furthermore, the sensor signal acquisition and processing unit comprises a tower crane trolley amplitude limiter, a tower crane boom rotation limiter, a lifting hook vertical height limiter and a lifting hook weighing sensor which are connected with the processor; the sensor signal acquisition and processing unit acquires the real-time data of the sensors, filters and amplifies the signals, and finally transmits the processed signals to the processor for analysis and processing.
Furthermore, the action instruction unit comprises a tower crane trolley control module, a cargo boom rotation control module and a hook vertical height control module which are connected with the processor; the tower crane trolley control module controls the trolley to move on the crane boom in the horizontal direction, the crane boom rotation control module is used for controlling the rotation angle of the crane boom in the horizontal direction, and the lifting hook vertical height control module is used for controlling the lifting hook to move up and down.
Further, the communication unit adopts a 5G communication module.
Furthermore, the camera shooting and collecting module adopts a camera shooting device of a ball machine.
The system further comprises a DSP signal processing unit and an FPGA signal processing unit, wherein the DSP signal processing unit is connected with the processor through a network port, the signal processing unit is connected with the FPGA signal processing unit through an EMIF bus, and the FPGA signal processing unit is connected with the camera shooting acquisition module through an HDMI interface.
Furthermore, the DSP signal processing unit comprises a TMS320C6713 chip as a core and a peripheral circuit formed by the core.
Furthermore, the FPGA signal processing unit XC3S400A chip is a core and a peripheral circuit formed by the core.
Has the advantages that: the utility model has the advantages as follows:
(1) the automatic control terminal system of the tower crane operates by taking an ARMCortex-A7 processor as a core control system, generates a track route by combining field ambient environment information, collects real-time position information of a trolley, a cargo boom and a lifting hook according to a sensor technology, corrects the track route, realizes the function of automatic driving, replaces a large amount of repetitive work of a tower crane operator, and improves the working efficiency and the safety of the tower crane to a great extent;
(2) through the FPGA + DSP structure, the obstacle information can be automatically identified in real time by the automatic control terminal of the tower crane without being manually input in advance and issued by the background server, so that errors in manual measurement and input are reduced, and the process that parameters need to be frequently modified due to the fact that the peripheral environment of a construction site is high in updating speed is avoided.
Drawings
Fig. 1 is a schematic structural diagram of an automatic control terminal of a tower crane according to an embodiment of the present invention;
fig. 2 is a power supply circuit according to an embodiment of the present invention;
fig. 3 is a sensor signal collecting and processing circuit according to an embodiment of the present invention;
fig. 4 is a relay control circuit according to an embodiment of the present invention;
fig. 5 is a schematic structural view of an automatic control terminal of a tower crane according to another embodiment of the present invention;
fig. 6 is a circuit diagram of a DSP signal processing unit according to another embodiment of the present invention;
fig. 7 is a circuit diagram of an FPGA signal processing unit according to another embodiment of the present invention.
Detailed Description
The technical solution of the present invention will be further described in detail with reference to the following specific examples.
Example 1
As shown in fig. 1 the utility model discloses a tower crane automatic control terminal, this tower crane automatic control terminal includes: the system comprises an ARMCortex-A7 processor 101, a 5G communication module 102, an action instruction unit 103, a sensor signal acquisition processing unit 104 and a 5G communication module 102, wherein the 5G communication module 102 is respectively connected with the ARMCortex-A7 processor and is respectively connected with a dome camera acquisition device 105 and a background server. The ARMCortex-A7 processor 101 is used for processing and analyzing current real-time running parameters of the tower crane and related parameters issued by the background server, generating a track route and controlling the automatic running of the tower crane; the 5G communication module 102 is used for communicating data between the ARMCortex-A7 processor 101 and a background server, the action instruction unit 103 is used for controlling movement of a tower crane trolley, rotation of a cargo boom and movement of a hook, the sensor signal acquisition and processing unit 104 is used for acquiring motion information and real-time positions of the current tower crane trolley, the cargo boom and the hook, and the dome camera acquisition equipment 105 is used for monitoring surrounding environment information in the operation process of the tower crane and the related motion condition of the hook when the tower crane is lifted.
Wherein the processor preferably employs an ARM port x-a7 processor, the ARM port x-a7 processor is the most efficient application processor developed by ARM to date, which significantly extends ARM's low power consumption leadership in future entry-level smart phones, tablets, and other advanced mobile devices.
The communication unit preferably uses a 5G communication module, but other communication modules such as 4G communication module may be used. The fifth Generation mobile communication technology (english: 5th Generation mobile networks or 5th Generation with wireless systems, 5th-Generation, 5G or 5G technology for short) is the latest Generation cellular mobile communication technology, and is also an extension behind the 4G (LTE-A, WiMax), 3G (UMTS, LTE) and 2G (gsm) systems. The performance goals of 5G are high data rates, reduced latency, energy savings, reduced cost, increased system capacity, and large-scale device connectivity.
The 5G communication module in this embodiment preferably adopts a far communication RG500Q module for far communication. The remote communication RG500Q is a 5G Sub 6GHz module designed specifically for IoT/M2M applications. 3GPP Release 15 technology is adopted, and 5GNSA and SA modes are simultaneously supported. The RG500Q is built with rich network protocols, integrates multiple industry standard interfaces, and supports multiple drivers and software functions (such as USB drivers under operating systems of Windows 7/8/8.1/10, Linux, Android, etc.).
Preferably, the sensor signal acquisition and processing unit 104 comprises a tower crane trolley amplitude limiter 40, a tower crane boom rotation limiter 41, a hook vertical height limiter 42, a hook weighing sensor 43, and the sensor signal acquisition and processing unit 104 acquires real-time data of the sensors, performs filtering amplification processing on the signals, and finally transmits the processed signals to the arm report-a 7 processor 101 for analysis and processing.
Preferably, the action command unit 103 comprises a tower crane trolley control module 30, a crane arm rotation control module 31 and a hook vertical height control module 32 which are connected with the arm port x-a7 processor 101. The tower crane trolley control module 30 controls the trolley to move on the crane boom in the horizontal direction, the crane boom rotation control module 31 is used for controlling the rotation angle of the crane boom in the horizontal direction, and the hook vertical height control module 32 is used for controlling the hook to move up and down.
The following describes the control circuit of the present invention in further detail:
the utility model discloses a tower machine automatic control terminal includes power supply circuit, sensor signal acquisition and processing circuit, relay drive circuit (action instruction unit circuit) and communication circuit. The power supply circuit is connected with 12V direct current in an external mode and is connected with the processor main control circuit, the relay driving circuit and the communication circuit simultaneously, as shown in figure 2. The power circuit converts 12V direct current into 3.3V direct current to be used as a main control circuit, the main control circuit takes an IMX6UL module as a main control module to be matched with a peripheral circuit (a peripheral circuit of the module, such as a reset circuit and the like), the main frequency of the module reaches 528MHz, and the module is provided with a 512M memory and a 4GB memory.
The processor main control circuit is provided with 132 pins, wherein pins 40, 41, 42, 43, 44, 45, 79 and 82 of the ARMCortex-A7 processor chip are connected with a sensor acquisition processing circuit (shown in figure 3), the sensor acquisition processing circuit firstly carries out shaping filtering processing on a sensor signal through low-noise operational amplifier, and then converts an analog quantity into a digital quantity through a 16-bit ADC chip and transmits the digital quantity to the main control module; the No. 7, 8 and 9 pins of the ARMCortex-A7 processor chip are connected with a relay drive circuit (shown in figure 4), and the relay drive circuit controls the action of 30 paths of relays through a serial-to-parallel shift buffer; the 112,114 pins of the ARMCortex-A7 processor chip complete the communication circuit.
The embodiment of the utility model provides a tower machine automatic control terminal's work flow as follows:
firstly, the arm port x-a7 processor 101 receives the three-dimensional coordinates of the material point, the discharge point, and the tower crane issued from the background server and the three-dimensional information of the position of the tower crane relative to all surrounding obstacles through the 5G communication module 102. Then the ARMCortex-A7 processor 101 generates a motion trail to the material point according to the information, at the moment, the ARMCortex-A7 processor 101 controls the action command unit 103 to control the movement of the tower crane trolley, the lifting arm and the lifting hook according to the motion trail data so as to achieve the target of obstacle avoidance, meanwhile, along with the movement of the trolley, the lifting arm and the lifting hook, the sensor acquisition processing unit 104 sends the real-time positions of the trolley, the lifting arm and the lifting hook to the ARMCortex-A7 processor 101, the ARMCortex-A7 processor 101 adjusts the motion track in real time according to the real-time positions and the obstacle information until the tower crane is positioned above the material point, correspondingly, in the process of running the tower crane, the camera acquisition equipment 105 of the dome camera records the picture of the external implementation environment, and the abnormal condition is uploaded to a background server through the 5G communication module 102, so that the abnormal condition of the tower crane in the running process can be handled in time by background personnel.
When the tower crane runs to a material point and is empty, the ARMCortex-A7 processor 101 controls the hook below the module 32 to be lifted to a designated position through the hook vertical height of the action instruction unit 103, then the ARMCortex-A7 processor 101 sends in-place information to the background server through the 5G communication module 102, the personnel waiting for the material point to place the material are waited for, meanwhile, the camera acquisition equipment 105 of the ball machine follows the lens with the hook, the material taking process of the tower crane is recorded, and the material taking process is uploaded to the background server through the 5G communication module 102. After the materials are successfully placed, a background server issues an instruction of 'go to a discharging point', an ARMCortex-A7 processor 101 receives the instruction through a 5G communication module 102, the ARMCortex-A7 processor 101 generates a motion track going to the discharging point, the movement of a trolley, a lifting arm and a lifting hook of a tower crane is controlled through an action instruction unit 103, the motion track is continuously corrected through the real-time positions of the trolley, the lifting arm and the lifting hook collected by a sensor collecting and processing unit 104 until the tower crane is positioned above the discharging point, a camera collecting device 105 of a dome camera records the real-time running process, then the ARMCortex-A7 processor 101 sends the lifting hook below a lifting hook vertical height control module 32 of the action instruction unit 103 to a specified position through the 5G communication module 102 to a background to send in-place information, the personnel at the discharging point waits for discharging operation, the camera collecting device 105 of the dome camera follows the lifting hook, the unloading process of the tower crane is recorded, after the unloading is finished, the background server issues an instruction of 'going to a material taking point' or 'returning to an initial position', the ARMCortex-A7 processor 101 completes corresponding actions after receiving the instruction, the operation is repeated in such a cycle, the material point and the automatic driving between the unloading points are finished, a large amount of repetitive labor of tower crane operators is replaced, and the risk is reduced.
Example 2
Referring to fig. 5, the automatic control terminal of the tower crane comprises: the system comprises an ARMCortex-A7 processor 101, a 5G communication module 102, an action instruction unit 103, a sensor signal acquisition processing unit 104 and a 5G communication module 102, wherein the 5G communication module 102 is respectively connected with the ARMCortex-A7 processor and is respectively connected with a dome camera acquisition device 105 and a background server. The ARMCortex-A7 processor 101 is used for processing and analyzing current real-time running parameters of the tower crane and related parameters issued by the background server, generating a track route and controlling the automatic running of the tower crane; the 5G communication module 102 is used for communicating data between the ARMCortex-A7 processor 101 and a background server, the action instruction unit 103 is used for controlling movement of a tower crane trolley, rotation of a cargo boom and movement of a hook, the sensor signal acquisition and processing unit 104 is used for acquiring motion information and real-time positions of the current tower crane trolley, the cargo boom and the hook, and the dome camera acquisition equipment 105 is used for monitoring surrounding environment information in the operation process of the tower crane and the related motion condition of the hook when the tower crane is lifted.
Different from the embodiment 1, the tower crane automatic control terminal in the embodiment further has a TMS320C6713DSP signal processing unit 106 and an XC3S400A FPGA signal processing unit 107 inside, the armport-a 7 processor 101 is connected with the DSP signal processing unit 106 through a network port, the DSP signal processing unit 106 is connected with the FPGA signal processing unit 107 through an EMIF bus, and the FPGA signal processing unit 107 is connected with the dome camera acquisition device 105 through an HDMI interface.
In this embodiment, the DSP signal processing unit uses the TMS320C6713 chip as a core, and cooperates with peripheral circuits (including a crystal oscillator circuit, a reset circuit, etc.) of the chip itself as shown in fig. 6, the FPGA signal processing unit uses the XC3S400A chip as a core, and cooperates with peripheral circuits (including a crystal oscillator circuit, etc.) of the chip itself as shown in fig. 7, the DSP signal processing unit and the FPGA signal processing unit perform data transmission through a standard EMIF FIFO interface, specifically, the XC3S400A chip U2 pins 142, 141, 140, 139, 135, 134, 133, 132, 131, 130, 129, 128, 127, 126, 125, 124, 120 are respectively connected to the TMS320C6713 chip U16 pins 152, 151, 149, 147, 146, 145, 144, 143, 142, 141, 140, 139, 138, 137, 136, 135, 134; pins 112, 113, 114 and 119 of U2 are respectively connected with pins 112, 111, 110 and 108 of U16 of the TMS320C6713 chip; pins 107, 106, 105 and 104 of the XC3S400A chip U2 are respectively connected with pins 8, 10, 11 and 13 of the TMS320C6713 chip U16; pins 121, 122 and 123 of the XC3S400A chip U2 are respectively connected with pins 84, 85 and 81 of the TMS320C6713 chip U16.
In the embodiment of the utility model, see that fig. 5 shows, FPGA signal processing unit 107 is used for opening up a great and the fast buffer memory space of read-write speed, the real-time picture of operation of storage ball machine camera collection equipment 105 record, DSP signal processing unit 106 reads the image data in the buffer memory space in real time to carry out image analysis, effectual barrier in the identification image, calculate real barrier through the scale factor and for tower machine three-dimensional coordinates, send all barrier data for ARMCortex-A7 treater 101 at last.
In the embodiment, the barrier information can be automatically identified in real time by the automatic control terminal of the tower crane without being manually input in advance, and is issued by the background server, so that errors in manual measurement and input are reduced, and the process that parameters need to be frequently modified due to the fact that the peripheral environment of a construction site is updated at a high speed is avoided.
The automatic control terminal of the tower crane is developed based on the Linux embedded system, has strong expansibility and can meet the requirement of intelligent control, and the working efficiency and the safety of the tower crane are improved to a great extent.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiments, and although the present invention has been disclosed with the preferred embodiments, it is not limited to the present invention, and any skilled person in the art can make some modifications or equivalent embodiments without departing from the scope of the present invention, but all the technical matters of the present invention are within the scope of the present invention.
Claims (9)
1. An automatic control terminal of a tower crane is characterized in that: the system comprises a processor, a sensor signal acquisition and processing unit, an action instruction unit, a communication unit, a background server and a camera acquisition module, wherein the processor is respectively connected with the sensor signal acquisition and processing unit, the action instruction unit and the communication unit;
the processor is used for processing and analyzing the current real-time operation parameters of the tower crane and the related parameters issued by the background server, generating a track route and controlling the tower crane to automatically operate; the communication unit is used for data communication between the processor and the background server, and the action instruction unit is used for controlling the movement of a tower crane trolley, the rotation of a cargo boom and the movement of a lifting hook; the sensor signal acquisition and processing unit acquires the motion information and real-time positions of the current tower crane trolley, the crane boom and the lifting hook; the camera shooting acquisition module acquisition equipment is used for monitoring peripheral environment information in the operation process of the tower crane and the relative motion condition of the lifting hook when the tower crane is lifted.
2. The automatic control terminal of the tower crane according to claim 1, wherein: the processor adopts an ARMCortex-A7 processor chip.
3. The automatic control terminal of the tower crane according to claim 1, wherein: the sensor signal acquisition and processing unit comprises a tower crane trolley amplitude limiter, a tower crane boom rotation limiter, a lifting hook vertical height limiter and a lifting hook weighing sensor which are connected with the processor; the sensor signal acquisition and processing unit acquires the real-time data of the sensors, filters and amplifies the signals, and finally transmits the processed signals to the processor for analysis and processing.
4. The automatic control terminal of the tower crane according to claim 1, wherein: the action instruction unit comprises a tower crane trolley control module, a cargo boom rotation control module and a lifting hook vertical height control module which are connected with the processor; the tower crane trolley control module controls the trolley to move on the crane boom in the horizontal direction, the crane boom rotation control module is used for controlling the rotation angle of the crane boom in the horizontal direction, and the lifting hook vertical height control module is used for controlling the lifting hook to move up and down.
5. The automatic control terminal of the tower crane according to claim 1, wherein: the communication unit adopts a 5G communication module.
6. The automatic control terminal of the tower crane according to claim 1, wherein: the camera shooting and collecting module adopts a camera shooting device of a ball machine.
7. The automatic control terminal of the tower crane according to any one of claims 1 to 6, wherein: the digital camera comprises a processor, a DSP signal processing unit and an FPGA signal processing unit, wherein the DSP signal processing unit is connected with the processor through a network port, the signal processing unit is connected with the FPGA signal processing unit through an EMIF bus, and the FPGA signal processing unit is connected with a camera shooting acquisition module through an HDMI interface.
8. The automatic control terminal of the tower crane according to claim 7, wherein: the DSP signal processing unit comprises a TMS320C6713 chip as a core and a peripheral circuit formed by the core.
9. The automatic control terminal of the tower crane according to claim 7, wherein: the FPGA signal processing unit XC3S400A chip is a core and a peripheral circuit formed by the core.
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| CN201921785251.XU CN210682989U (en) | 2019-10-23 | 2019-10-23 | Automatic control terminal of tower crane |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111847245A (en) * | 2020-07-15 | 2020-10-30 | 南京理工大学 | Tower crane remote monitoring system based on 5G network |
| CN112551397A (en) * | 2020-11-23 | 2021-03-26 | 长沙中联消防机械有限公司 | Control method and system for aerial ladder vehicle arm support and aerial ladder vehicle |
| CN115010001A (en) * | 2022-08-09 | 2022-09-06 | 杭州未名信科科技有限公司 | Tower crane auxiliary control method and device, electronic equipment and readable storage medium |
| CN115784021A (en) * | 2023-02-13 | 2023-03-14 | 广东徐工汉云工业互联网有限公司 | Tower crane cooperative operation control system, method and device |
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2019
- 2019-10-23 CN CN201921785251.XU patent/CN210682989U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111847245A (en) * | 2020-07-15 | 2020-10-30 | 南京理工大学 | Tower crane remote monitoring system based on 5G network |
| CN112551397A (en) * | 2020-11-23 | 2021-03-26 | 长沙中联消防机械有限公司 | Control method and system for aerial ladder vehicle arm support and aerial ladder vehicle |
| CN115010001A (en) * | 2022-08-09 | 2022-09-06 | 杭州未名信科科技有限公司 | Tower crane auxiliary control method and device, electronic equipment and readable storage medium |
| CN115784021A (en) * | 2023-02-13 | 2023-03-14 | 广东徐工汉云工业互联网有限公司 | Tower crane cooperative operation control system, method and device |
| CN115784021B (en) * | 2023-02-13 | 2023-04-07 | 广东徐工汉云工业互联网有限公司 | Tower crane cooperative operation control system, method and device |
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