CN211056546U - Tower crane control system and tower crane - Google Patents
Tower crane control system and tower crane Download PDFInfo
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- CN211056546U CN211056546U CN201921960954.1U CN201921960954U CN211056546U CN 211056546 U CN211056546 U CN 211056546U CN 201921960954 U CN201921960954 U CN 201921960954U CN 211056546 U CN211056546 U CN 211056546U
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Abstract
The utility model relates to a tower machine intelligence is controlled technical field, provides a control tower machine system and a tower machine, the tower machine control system includes: the system comprises a ground terminal console and a plurality of first image acquisition devices; the first image acquisition devices are respectively arranged on a balance arm root, a crane arm root, a load-carrying trolley and a swing mechanism of the tower crane to be controlled and are respectively used for shooting construction images behind the balance arm, in front of the crane arm, below the load-carrying trolley and below the swing mechanism; and the ground terminal console is used for connecting a tower crane controller. The utility model provides a technical scheme makes the operator can carry out normal operation to the tower machine under the tower to reduce the potential safety hazard, improve the efficiency of construction.
Description
Technical Field
The utility model relates to a technical field is controlled to tower machine intelligence, in particular to tower machine control system and a tower machine.
Background
The tower crane is one of the most common hoisting apparatus for hoisting construction material. The tower can be transported in parallel, vertical and three hundred and sixty degrees without dead angles, makes great contribution to modern buildings and is necessary equipment for building construction.
The existing operation mode of the tower crane depends on the cooperation of a driver of an operation room on the tower and a hoisting constructor under the tower, the operation mode which completely depends on human eyes and experience for judgment has higher technical requirements on the driver and the hoisting constructor, tests the tacit and the trust degree between the driver and the hoisting constructor, and hides huge safety risks behind the operation mode. Firstly, a driver needs to climb to a control room on a tower to work, the height of the tower crane is different from tens of meters to hundreds of meters, under the condition that almost no safety measures exist in the prior art, huge hidden dangers are caused to the personal safety of the driver of the tower crane, meanwhile, the physical requirements on the driver of the tower crane are extremely high, and people who want to be engaged in the industry of hoisting the tower crane are limited. Secondly, when a driver carries out high-altitude construction operation in a control cabin, due to the fact that the visual range of human eyes is limited, the driver is difficult to accurately judge the surrounding operation environment, misoperation or improper operation is easily caused, and the lifting efficiency is not high or accidents occur.
Therefore, how to shift the operation on the tower to the operation under the tower is a problem to be solved.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing a tower machine control system makes the operator can carry out normal operation to the tower machine under the tower to reduce the potential safety hazard, improve the efficiency of construction.
In order to achieve the above purpose, the technical scheme of the utility model is realized like this:
a tower crane handling system, the system comprising: the system comprises a ground terminal console and a plurality of first image acquisition devices; the first image acquisition devices are respectively arranged on a balance arm root, a crane arm root, a load-carrying trolley and a swing mechanism of the tower crane to be controlled and are respectively used for shooting construction images behind the balance arm, in front of the crane arm, below the load-carrying trolley and below the swing mechanism; the construction image is equivalent to a panoramic view image of a driver on the original tower; and the ground terminal console is used for connecting a tower crane controller.
Further, the ground terminal console includes: the device comprises a platform body, an industrial personal computer, an under-tower controller, a display screen and a linkage platform for receiving an operation command; the tower crane controller is connected with the tower crane controller and the linkage table respectively; the plurality of first image acquisition devices, the tower lower controller and the display screen are all connected with the industrial personal computer.
Preferably, two first image acquisition devices are arranged on a balance arm root of the tower crane to be controlled and are respectively arranged on the left side and the right side of the balance arm root; the two first image acquisition devices are arranged on the crane boom root of the tower crane to be controlled and are respectively arranged on the left side and the right side of the crane boom root.
Preferably, the first image capturing device is a gun camera.
The tower crane control system further comprises two second image acquisition devices, wherein the two second image acquisition devices are respectively arranged on a crane arm root and a crane arm tip of the tower crane to be controlled and used for tracking and shooting a lifting hook and a hung object below the load-bearing trolley; the second image acquisition device is connected with the industrial personal computer.
Preferably, the second image acquisition device is a dome camera.
Preferably, the first image acquisition device and the second image acquisition device are both in wireless connection with the industrial personal computer.
Further, the tower crane control system further comprises: and the safety monitoring device is arranged on the tower crane to be controlled and is respectively connected with the tower crane controller and the industrial personal computer.
Further, the tower crane control system further comprises: the remote control signal receiver is arranged on the tower crane to be controlled and is connected with the tower crane controller.
Further, the tower crane control system further comprises: the mobile image acquisition devices are arranged on a safety helmet worn by workers in a working environment, and the mobile image acquisition devices are connected with the industrial personal computer.
The utility model also provides a tower machine, including aforementioned tower machine control system.
The utility model discloses a tower machine control system, owing to evenly arranged the camera on the balance arm of tower machine, jib loading boom, load dolly and rotation mechanism, the camera is connected in the terminal control platform on ground, therefore can show the construction image that the driver is concerned about on the display screen all-round in multi-angle, the construction image is equivalent to driver's panorama visual field image on former tower to reduce the potential safety hazard when the tower machine operates, and then improve the efficiency of construction; and because the tower crane controller is arranged on the tower crane, the system can transmit the instruction of the ground terminal console to the tower crane actuating mechanism through the tower crane controller, and further control the operation of the tower crane actuating mechanism. The utility model discloses make the operator can carry out normal operation under the tower on the prerequisite that does not change operation habit on original tower.
Other features and advantages of the present invention will be described in detail in the detailed description which follows.
Drawings
The accompanying drawings, which form a part hereof, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. In the drawings:
fig. 1 is a first system structure diagram according to an embodiment of the present invention;
fig. 2 is a second system structure diagram according to an embodiment of the present invention;
fig. 3 is a third system structure diagram according to the embodiment of the present invention;
fig. 4 is a schematic layout view of a ground control room in an embodiment of the present invention;
fig. 5 is a schematic layout diagram of the first camera and the second camera on the tower crane according to the embodiment of the present invention;
fig. 6 is a schematic diagram of a remote controller key according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a path planning system included in an industrial personal computer according to an embodiment of the present invention.
Description of the reference numerals
1-display 12-display 23-display 3
4-industrial personal computer touch screen 5-left linkage table operation interface
6-Right linkage table operation interface 7-ground final control table body 8-driver seat
9-electric control cabinet of ground terminal console 10-charging placement cabinet of intelligent safety helmet
11. 12-two first cameras arranged on the base of the balance arm
13. 14-two first cameras arranged on the root of the boom arm
15-first Camera mounted on the load-carrying Trolley
16-second Camera arranged on the root of the boom arm
17-second Camera arranged on the boom tip
Detailed Description
The following describes in detail embodiments of the present invention with reference to the accompanying drawings. It is to be understood that the description herein is only intended to illustrate and explain embodiments of the present invention, and is not intended to limit embodiments of the present invention.
Fig. 1 is a first system structure diagram of the embodiment of the present invention, and the system includes: the system comprises a ground terminal console and a plurality of first image acquisition devices; the first image acquisition devices are respectively arranged on a balance arm root, a crane arm root, a load-carrying trolley and a swing mechanism of the tower crane to be controlled and are respectively used for shooting construction images behind the balance arm, in front of the crane arm, below the load-carrying trolley and below the swing mechanism; the construction image is equivalent to a panoramic view image of a driver on the original tower; and the ground terminal console is used for connecting a tower crane controller.
The technical route of the whole tower crane control system comprises an upper tower part P L C, a lower tower part P L C, a ground final control platform, a remote control system, a video monitoring system, a path planning system, a safety monitoring system and the like.
FIG. 2 is a second structural diagram of the system according to the embodiment of the present invention, which includes a ground terminal console, an upper tower P L C and a plurality of first cameras, wherein the upper tower P L C is connected to an existing original tower machine P L C on the tower machine to be controlled, and the original tower machine P L C is connected to an existing tower machine executing mechanism, the plurality of first cameras are respectively disposed on a balance arm root, a boom arm root, a load-carrying trolley and a swing mechanism of the tower machine to be controlled, as shown in FIG. 4, and are respectively used for capturing construction pictures behind the balance arm, in front of the boom, below the load-carrying trolley and below the swing mechanism.
In the embodiment, the upper tower P L C is arranged on a tower body of a tower crane to be controlled and is convenient to be connected with an existing original tower crane P L C, the upper tower P L C is connected with the lower tower P L C through a POWER L INK communication bus, an instruction transmitted by an industrial personal computer through the lower tower P L C is received, or various acquired signal parameters on the tower crane are transmitted to the lower tower P L C and then transmitted to the industrial personal computer for corresponding processing, and the lower tower P L C is connected with the industrial personal computer through a CAN communication bus.
In order to enable the operator of the tower crane to have a better observation view, the system of the embodiment further comprises two second cameras, and the second cameras are automatic tracking cameras. Preferably, the second camera is a dome camera having an automatic tracking shooting function. The second camera is respectively arranged on the root and the tip of the boom of the tower crane to be controlled and used for tracking and shooting the lifting hook and the hung object below the load-carrying trolley of the tower crane, as shown in fig. 5. The second camera is connected with the industrial personal computer in the ground terminal console, transmits the shot pictures to the industrial personal computer in real time and displays the shot pictures on the display screen. In this embodiment, the first camera and the second camera are both wirelessly connected with the industrial personal computer.
The first camera, the second camera, the industrial personal computer and the display screen together form the video monitoring system in the embodiment, and the video monitoring system is used for displaying construction pictures concerned by tower crane operators in a multi-angle and multi-azimuth manner. Meanwhile, in order to distinguish the importance degree of each monitoring visual angle and research the position, angle and type of video information acquisition, the embodiment integrates the advantages of wired, wireless and 4G network transmission technologies, and applies the advantages to video transmission at different visual angles to form a video networking system for a tower crane high-altitude environment and a lifting hook multi-visual angle, thereby realizing remote, low-delay and large-information-quantity video real-time monitoring. Specifically, the first camera in this embodiment is a gun-type camera, and the second camera is a dome-type camera. The method comprises the following steps that an operator of the tower crane judges an optimal operation mode according to pictures shot by a first camera and a second camera, wherein two first cameras are arranged on a balance arm root of the tower crane to be controlled, are respectively arranged on the left side and the right side of the balance arm root and are used for shooting construction pictures behind the balance arm; the two first cameras are arranged on the boom root of the tower crane to be controlled, are respectively arranged on the left side and the right side of the boom root and are used for shooting construction pictures in front of the boom; the first camera is arranged on the load-carrying trolley of the tower crane to be controlled and used for shooting pictures below the load-carrying trolley and vertically downward of the lifting hook in real time; the first camera arranged on the slewing mechanism of the tower crane to be controlled is used for shooting a full-angle picture below the slewing mechanism, namely a construction scene. The first camera arranged on the slewing mechanism can also be arranged below the slewing mechanism. The two second cameras are respectively arranged on the crane boom root and the crane boom tip of the tower crane to be controlled and used for automatically tracking and shooting a hung object in a wide angle, and the diameter range of the hung object serving as the center can be set through automatic control parameters of a ball machine of the industrial personal computer.
As shown in fig. 4, the system of this embodiment further includes a safety monitoring device disposed on the tower crane to be controlled, and the safety monitoring device is connected to the original tower crane P L C and the industrial personal computer respectively.
In this embodiment, the ground terminal console further includes: and the alarm device is arranged on the surface of the table body and is connected with the industrial personal computer.
The safety monitoring device is provided with a safety monitoring system for monitoring parameters such as hoisting weight, amplitude value, height value, rotation value, wind speed value, inclination angle value and the like when the tower crane acts, once the tower crane is beyond a set safety range during operation, the safety monitoring system CAN alarm or suddenly stop the tower crane through the alarm device, thereby ensuring the safe construction of the tower crane and ensuring the safety of lives and properties.
As shown in fig. 3, the system of the embodiment further comprises a remote controller and a remote control signal receiver, wherein the remote control signal receiver is arranged on the tower crane to be controlled, the remote control signal receiver is connected with the P L C on the tower, and the remote controller is wirelessly connected with the remote control signal receiver.
The key schematic diagram of the remote controller shown in fig. 6 includes the functional keys of emergency braking, up/down of a hook, left/right rotation, amplitude variation, fast mode, slow mode, starting and standby, and a hoisting constructor can hold the remote controller to implement the above operation on the tower crane to realize the fine operation of the tower crane. The specific operation is that the start key is pressed first, then one of the fast or slow modes is selected, and then the corresponding lifting, rotating and amplitude changing keys are pressed according to the state of the tower crane, so that the tower crane is controlled to execute according to the command, and finally, if the tower crane needs to be stopped in an emergency situation, the emergency brake key is pressed.
In the process of remote control operation, firstly, the remote controller sends a command on a key and receives the command through the remote control signal receiver 433 in a wireless communication mode, then the command signal is transmitted to the P L C on the tower through CAN communication, the P L C on the tower maps the control command signal to the existing original tower crane P L C through I/O, and therefore each executing mechanism of the tower crane executes corresponding rotation, amplitude change and lifting actions according to the transmitted command, and the tower crane is controlled in a remote controller mode.
The system described in this embodiment further includes: the intelligent safety helmet with the positioning function is in wireless connection with an industrial personal computer of the ground terminal console. Further, still be provided with camera and first microphone on the cap body of intelligent safety helmet, have and shoot and the conversation function, and camera and first microphone all with ground terminal console's industrial computer wireless connection.
In order to implement the voice call function, the ground terminal console in this embodiment further includes: and the second microphone is arranged on the upper surface of the ground terminal console body and is connected with the industrial personal computer.
The intelligent safety helmet, the webpage login safety helmet monitoring system installed in the industrial personal computer, the second microphone and the display screen jointly form the intelligent safety helmet monitoring system. Wherein, intelligent safety helmet is worn by the hoist and mount constructor, has functions such as location, conversation, shooting video, communicates through 4G signal and ground terminal console. The tower crane operator logs in through the safety helmet monitoring system that display screen 3 shows on the ground terminal console, and this system can show the position that intelligent security hat was located in real time based on big dipper navigation, and the tower crane operator can send pronunciation, the video conversation request with the hoist and mount constructor at any time, and intelligent security hat can convey the industrial computer of ground terminal console with the picture of scene shooting to show through display screen 3. The method not only increases more field visual angles to facilitate judgment of tower crane operators, but also facilitates timely communication between the tower crane operators and hoisting construction personnel, and reduces misoperation.
The number of display screens in this embodiment is 3, as shown in fig. 4. The display screen 1 and the display screen 2 are used for displaying real-time shooting pictures of the first camera and the second camera, a tower crane operator can log in a video management system according to personal operation habits to set the video pictures, and the video management system is installed in an industrial personal computer and belongs to a part of a path planning system in the industrial personal computer. In practical applications, the leftmost display screen 1 shown in fig. 4 is used to display auxiliary viewing angle pictures that are not commonly used; the middle display screen 2 is used for displaying a main visual angle picture of hoisting operation; the rightmost display screen 3 is used for displaying a login interface of the safety helmet monitoring system, and the safety helmet monitoring system displays the current position of the intelligent safety helmet in real time based on Beidou satellite navigation. When the tower crane operator carries out the video conversation through ground final control platform and hoist and mount constructor, can shoot the place ahead picture of the intelligent safety helmet that hoist and mount constructor wore, the tower crane operator just can know the environment around the lifting device very clearly according to the picture of shooing, and then controls the linkage platform through linkage platform operating handle in order to hoist the goods. In this embodiment, in order to facilitate the actual operation, simulate real tower operating environment on, the linkage platform divide into left linkage platform and right linkage platform two parts. The linkage platform in this embodiment is the same as the linkage platform on the existing tower crane in structure and function.
In this embodiment, a driver seat is further disposed in front of the ground terminal console, and the ground terminal console and the driver seat are both disposed in a preset ground control room. As shown in fig. 4, the ground control room is further provided with an electric control cabinet of the ground terminal console and a charging placement cabinet of the intelligent safety helmet.
In this embodiment, the ground terminal console further includes: the touch screen is embedded in the upper surface of the platform body of the ground terminal console and connected with the industrial personal computer, and is used for displaying various system parameters of the industrial personal computer, and a tower crane operator can set the various system parameters through the touch screen.
Specifically, a path planning system is installed in an industrial personal computer of the ground terminal console, and the path planning system is a set of each subsystem, as shown in fig. 7. The path planning system in this embodiment displays states of the main interface, the camera control, the safety monitoring system, the intelligent safety helmet communication, the system setting and the like through the display screen shown in fig. 4, and a tower crane operator can set the system state through the touch screen and control the operation of the tower crane. The main interface displays boundary setting, algorithm debugging, task mode, motion control parameters and the like of the tower crane; the camera control interface displays manual or automatic control mode selection, installation horizontal or vertical deviation of the dome camera 1/2, vertical up/down, horizontal left/right, zoom-in and zoom-out commands in the manual control mode, and view angle allowable deviation percentage, shot picture vertical range and lifting rope length in the automatic control mode; the safety monitoring system displays the current height, amplitude, rotation angle, weight, moment, wind speed, maximum working height/amplitude, moment limit, amplitude limit, hoisting weight limit, rotation limit, height limit, wind speed limit and other information of the lifting hook in real time; the intelligent safety helmet monitoring system interface displays the coordinate value of each intelligent safety helmet in real time and can call the intelligent safety helmet; the system setting interface is selected by the type of the electric control system, the remote control mode and the control mode.
The above control modes in this embodiment are three types, which are driver control, remote control, and automatic operation control. During this period, the tower crane driver/operator can work in cooperation with the hoisting constructor.
The specific implementation mode of the control mode of the driver of the tower crane/an operator of the tower crane controls the tower crane through the linkage table operation of the ground terminal control table is that the commands of lifting, rotating, amplitude changing, sudden stop, weather vane, bypass and the like of the linkage table are mapped to a P L C under the tower, then the commands and the commands sent by a path planning system are all packaged by a P L C under the tower and are sent to a P L C on the tower through POWER L INK in a communication mode, finally the P L C on the tower is connected with the original P L C, the commands of input and output signals of the tower crane are mapped to each executing mechanism of the tower crane, so that the control on the tower crane is realized, meanwhile, the P L C on the tower can communicate through a POWER L INK to transmit signals of red indicator light moment, yellow indicator light moment, red indicator light weight, yellow indicator light weight, buzzer of the indicator light, weather vane indicator light and the like to a P L C under the tower, and finally the I/O port of a P L C under the tower is mapped to the linkage table.
The remote control mode is a mode that a hoisting constructor holds a remote controller to control a tower crane, and the specific implementation mode is that the remote controller sends an operation instruction, such as that a lifting hook is upward, the lifting hook is downward, a trolley is outward in amplitude, the trolley is inward in amplitude, the tower crane rotates, starts, and stops running emergently, a receiver of the remote controller on the tower receives the instructions and then is connected to a P L C on the tower through a CAN communication bus, then the P L C on the tower sends the instruction to an original tower crane P L C, and finally the instruction of an input output signal is mapped to each execution mechanism of the tower crane, so that the tower crane is controlled.
The automatic operation mode refers to a mode in which the tower crane automatically operates according to a program setting state.
The utility model also provides a tower machine, including aforementioned tower machine control system.
Tower machine control system, owing to the camera has been arranged to equipartition on the balance arm of tower machine, jib loading boom, load dolly and rotation mechanism, the camera is connected with the industrial computer in the ground final control platform, consequently can show the construction image that the driver is concerned about on the display screen all-roundly by the multi-angle, the construction image is equivalent to driver's panoramic view image on former tower to reduce the potential safety hazard when tower machine operation, and then improve the efficiency of construction, owing to set up P L C on the tower and P L C under the tower respectively on the tower machine and under the tower machine, the system can be through P L C under the tower with the instruction of linkage platform and industrial computer send P L C on the tower, and then send and treat existing former tower machine P L C on the tower machine of controlling, through this former tower machine P L C control operation of tower machine actuating mechanism, simultaneously, the integration encapsulation setting of each equipment makes the operator can carry out normal operation under the tower under the prerequisite that does not change former tower operation custom in the ground final control platform.
The above describes in detail optional implementation manners of embodiments of the present invention with reference to the accompanying drawings, however, the embodiments of the present invention are not limited to the details in the above implementation manners, and in the technical concept scope of the embodiments of the present invention, it is possible to perform various simple modifications on the technical solutions of the embodiments of the present invention, and these simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not separately describe various possible combinations.
Claims (11)
1. A tower machine control system, its characterized in that, tower machine control system includes: the system comprises a ground terminal console and a plurality of first image acquisition devices; the first image acquisition devices are respectively arranged on a balance arm root, a crane arm root, a load-carrying trolley and a swing mechanism of the tower crane to be controlled and are respectively used for shooting construction images behind the balance arm, in front of the crane arm, below the load-carrying trolley and below the swing mechanism; and the ground terminal console is used for connecting a tower crane controller.
2. The tower crane control system as claimed in claim 1, wherein the ground terminal station comprises: the device comprises a platform body, an industrial personal computer, an under-tower controller, a display screen and a linkage platform for receiving an operation command; the tower crane controller is connected with the tower crane controller and the linkage table respectively; the plurality of first image acquisition devices, the tower lower controller and the display screen are all connected with the industrial personal computer.
3. The tower crane control system according to claim 2, characterized in that two first image acquisition devices are arranged on the balance arm root of the tower crane to be controlled, and are respectively arranged on the left side and the right side of the balance arm root; the two first image acquisition devices are arranged on the crane boom root of the tower crane to be controlled and are respectively arranged on the left side and the right side of the crane boom root.
4. The tower crane control system according to claim 3, characterized in that the first image acquisition device is a gun-type camera.
5. The tower crane control system according to claim 2, further comprising two second image acquisition devices, wherein the two second image acquisition devices are respectively arranged on a boom root and a boom tip of the tower crane to be controlled and used for tracking and shooting the lifting hook and the lifted object below the load-carrying trolley; the second image acquisition device is connected with the industrial personal computer.
6. The tower crane control system according to claim 5, wherein the second image acquisition device is a dome camera.
7. The tower crane control system according to claim 5, wherein the first image acquisition device and the second image acquisition device are both wirelessly connected with the industrial personal computer.
8. The tower crane control system according to claim 2, characterized in that the tower crane control system further comprises: and the safety monitoring device is arranged on the tower crane to be controlled and is respectively connected with the tower crane controller and the industrial personal computer.
9. The tower crane control system according to claim 1, further comprising: the remote control signal receiver is arranged on the tower crane to be controlled and is connected with the tower crane controller.
10. The tower crane control system according to claim 2, characterized in that the tower crane control system further comprises: the mobile image acquisition devices are arranged on a safety helmet worn by workers in a working environment, and the mobile image acquisition devices are connected with the industrial personal computer.
11. A tower crane, characterized in that it comprises a tower crane handling system according to any one of claims 1-10.
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| CN201921960954.1U CN211056546U (en) | 2019-11-13 | 2019-11-13 | Tower crane control system and tower crane |
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| CN201921960954.1U CN211056546U (en) | 2019-11-13 | 2019-11-13 | Tower crane control system and tower crane |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112938763A (en) * | 2021-02-03 | 2021-06-11 | 广东光速智能设备有限公司 | Multi-site multi-tower machine remote control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112938763A (en) * | 2021-02-03 | 2021-06-11 | 广东光速智能设备有限公司 | Multi-site multi-tower machine remote control system |
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