CN211444763U - A tower crane installation intelligent alignment navigation system - Google Patents

Abstract

An intelligent alignment navigation system for tower crane installation includes a fixed base station for satellite positioning, an alignment reference station, a mobile alignment station, and a hoisting monitor. The satellite positioning fixed base station sends the positioning data to the installation alignment base station and the installation alignment mobile station; the installation alignment base station communicates with the satellite positioning fixed base station to correct the coordinate accuracy of the installation alignment base station, and the installation alignment base station converts the coordinates The information is sent to the hoisting monitor and the on-site dispatch command platform; the installation and alignment mobile station interacts with the satellite positioning fixed base station to correct the coordinate accuracy of the installation alignment mobile station and the height to the ground, and the installation alignment mobile station transfers the coordinate information to the ground. The height information is sent to the hoisting monitor and the on-site dispatch command platform. The hoisting monitor is connected to the cloud platform and the on-site dispatch command platform respectively, and the cloud platform is connected to the mobile APP. The system of the utility model can effectively improve the tower crane installation efficiency and ensure the safety in the tower crane installation process.

Description

A tower crane installation intelligent alignment navigation system

technical field

The utility model relates to the technical field of tower crane installation monitoring, in particular to an intelligent navigation alignment system for tower crane installation.

Background technique

At present, there are about 400,000 tower cranes in my country, and a large number of tower cranes are invested in construction and installation projects every year. However, the installation and dismantling of tower cranes are basically manual operations, and the entire operation process is only under the supervision of people. Due to the randomness of people and the influence of internal and external reasons, it is easy to cause irregular operations in the installation and dismantling of tower cranes. Demolition and buried safety hazards, resulting in a variety of safety accidents. At present, the supervision department attaches great importance to the safe production of tower cranes, and has issued many relevant management systems and regulations. Leaders of relevant units also attach great importance to the safety of tower crane installation, disassembly and jacking (adding and lowering), and have formulated a series of management regulations and specifications. However, due to the huge size and heavy tonnage of the tower body, the installation and dismantling staff cannot control it. In the prior art, due to the use of car hoisting and manual alignment with a rope, the person participating in the alignment cannot grasp the strength of the rope, resulting in slow alignment speed and low work efficiency in the actual operation process. Improper operation may cause major safety accidents.

At present, there is no tower crane installed with intelligent navigation monitoring equipment on the market. In view of this, there is a need for an effective tool for safe installation, efficient alignment of tower cranes and improving construction efficiency.

SUMMARY OF THE INVENTION

The utility model provides an intelligent navigation alignment system for tower crane installation, which can effectively improve the tower crane installation efficiency and ensure the safety in the tower crane installation process.

The technical scheme adopted by the utility model is:

An intelligent navigation and alignment system for tower crane installation includes a fixed base station for satellite positioning, a base station for alignment, a mobile station for alignment, a hoisting monitor, a cloud platform, and an on-site dispatch command platform.

The satellite positioning fixed base station is used to obtain positioning data, and send the positioning data to the installation alignment reference station and the installation alignment mobile station;

The installation alignment reference station is used to calculate its position coordinates, and communicate with the satellite positioning fixed base station to correct the coordinate accuracy of the installation alignment reference station. The installation alignment reference station sends the coordinate information to the hoisting monitor and on-site dispatch command. platform;

The installation and alignment mobile station is used to calculate its position coordinates and the height to the ground, and communicates with the satellite positioning fixed base station to correct the coordinate accuracy of the installation alignment mobile station and the height to the ground. The information and the height information on the ground are sent to the hoisting monitor and the on-site dispatch command platform;

The hoisting monitor is respectively connected with the cloud platform and the on-site dispatch command platform, and the cloud platform is connected with the mobile phone APP.

The satellite positioning fixed base station includes a first satellite positioning antenna and a first digital radio station; the first satellite positioning antenna and the first digital radio station are connected to the fixed base station host.

The tower crane installation alignment reference station includes a second satellite positioning antenna, a third satellite positioning antenna, and a second digital radio station; the second satellite positioning antenna, the third satellite positioning antenna, and the second digital radio station are connected to the alignment reference station The host, the host of the alignment base station, the first vehicle-mounted camera are connected to the first switch, and the first switch is connected to the first network bridge.

The tower crane installation alignment mobile station includes a fourth satellite positioning antenna, a fifth satellite positioning antenna, a third digital radio station, and a laser ranging sensor; the fourth satellite positioning antenna, the fifth satellite positioning antenna, and the third digital radio station . The laser ranging sensor is connected to the host of the mobile station, the host of the mobile station, the second vehicle-mounted camera is connected to the second switch, and the second switch is connected to the second bridge.

The tower crane installation alignment mobile station also includes a lithium battery, and the lithium battery is connected to the alignment mobile station host.

The hoisting monitor includes:

Body level sensor for detecting body level;

Outrigger hydraulic sensor for detecting the pressure of the four outriggers;

Torque limiter, used to detect torque signal;

Wind speed sensor, used to collect wind speed signal;

The body level sensor, the outrigger hydraulic sensor, the torque limiter and the wind speed sensor are all connected to the monitor host, the monitor host is connected to the third switch, the third switch is connected to the 4G communication module, and the 4G communication module is connected to the cloud platform.

The hoisting monitor also includes:

The face recognition sensor is used to collect the face information of maintenance personnel and supervisors. The face recognition sensor is connected to the touch screen, and the touch screen is connected to the third switch.

The hoisting monitor also includes:

IP walkie-talkie, digital radio, the IP walkie-talkie and digital radio are connected to the third switch,

The IP walkie-talkie is used for the communication between the truck crane driver and the on-site dispatch and command platform; the digital radio is used for the communication connection with the on-site dispatch and command platform.

The hoisting monitor also includes:

Dome camera for monitoring driver work,

Surveillance cameras for monitoring hook work,

The dome camera and the monitoring camera are connected to a video recorder, the video recorder is connected to a display, the video recorder is connected to a third switch, and the third switch is connected to a network bridge.

The on-site dispatch command platform includes:

A scanner and a laser printer, the scanner and the laser printer are connected to a notebook computer;

The intercom commander and the total station, the intercom commander and the total station are connected to the third switch;

The third switch is connected to the notebook computer, and the notebook computer is connected to the cloud platform through the network.

The utility model is a tower crane installation intelligent navigation alignment system, and the technical effects are as follows:

1: Using satellite positioning and laser ranging technology to realize the three-dimensional (horizontal alignment and height alignment) three-dimensional digital alignment of the standard section, balance arm and boom during the installation of the visualized tower crane; thus effectively improving the installation and operation of the tower crane. Command work efficiency;

2: Using satellite positioning technology, establish a dynamic safety protection ring with the center distance of the tower body as the center, and realize the dynamic anti-collision during the hoisting process of the tower crane balance arm and boom;

3: The use of process monitoring and management technology ensures the orderly implementation and scientific management of each hoisting process;

4: The "double insurance" of on-site monitoring and platform monitoring is realized. The on-site driver conducts digital monitoring and video monitoring of each process hoisting through the touch screen and display. The platform and on-site video have realized the whole process of digital monitoring and video monitoring. If any problem with on-site hoisting operation or safety is found, it can be intervened in time to ensure the safety and efficiency of hoisting;

5: The mobile APP mobile monitoring is realized, and the tower crane dispatching commander or management personnel can remotely monitor the tower crane installation and dismantling process from anywhere through the mobile APP.

6: Using the satellite positioning antenna and laser ranging sensor of the tower crane installation alignment mobile station to provide mobile coordinates and height alignment information for the tower crane tower body, balance arm, and boom installation, for the tower body, balance arm, lifting arm. The heavy arm installation alignment calculation creates conditions.

7: Use the process monitoring management software, safety protection software and alignment calculation software of the car crane alignment monitor to provide each step process monitoring and safety management for the installation of the tower body, balance arm and boom to ensure the installation process of each step. The quality meets the standard requirements. Because the safety management software is embedded in the car hoisting alignment monitor, when the car hoist exceeds the torque, the body tilt exceeds the specified requirements, the outrigger loses pressure, and the ambient wind speed exceeds level 4, the distance between the boom and the boom when the balance arm and the jib are installed If the tower body is too close, the safety protection ring is exceeded, and the tower arm hoisting height is less than the set requirements, the system will automatically alarm and automatically control to ensure the safety of tower crane hoisting; the car hoisting hoisting alignment monitor is embedded with alignment calculation software, through the process The monitoring program can display the tower height and performance characteristics of different processes. When the standard section of tower crane hoisting or the moving coordinates such as balance arm and jib appear, the alignment monitor will automatically calculate the distance between the moving coordinates and the target coordinates. Distance, height, etc., provide visual navigation installation services for quick alignment installation, thereby improving installation efficiency.

8: The on-site installation real-time monitoring and network platform monitoring are organically combined to realize the two real-time monitoring of on-site implementation monitoring, on-site dispatching command platform, and management personnel to ensure that each installation process meets the standards and safety requirements. The GPS/4G communication module provides the location GPS coordinates for the tower crane worry-free hoisting network cloud platform. The tower crane worry-free hoisting network cloud platform can provide auxiliary information in real time according to the location of the tower crane (such as weather forecast and local geology). Features) and precautions, etc., to provide more comprehensive services for on-site dispatch and command to ensure safe and efficient tower crane installation and dismantling.

9: On-site dispatch command and management personnel provide mobile APP remote monitoring. The mobile APP is connected to the tower crane worry-free hoisting network cloud platform. The on-site dispatch command and management personnel can remotely monitor and query the tower crane hoisting anywhere through the mobile APP. Serve.

Description of drawings

FIG. 1 is a schematic diagram of the principle of the system of the present invention.

FIG. 2 is a schematic diagram of the working principle of the satellite positioning fixed base station of the system of the present invention.

3 is a schematic diagram of the working principle of the tower crane installation alignment reference station of the system of the present invention.

4 is a schematic diagram of the working principle of the tower crane installation alignment mobile station of the system of the present invention.

Fig. 5 is the working principle diagram of the hoisting monitor of the utility model system;

FIG. 6 is a working principle diagram of the video monitoring part of the hoisting monitor of the system of the present invention.

Fig. 7 is the working principle diagram of the on-site dispatch command platform of the system of the present invention.

FIG. 8 is a schematic flowchart of the implementation steps of the tower crane hoisting process of the system of the present invention.

Detailed ways

A tower crane installation intelligent navigation alignment system, its composition and working principle are shown in Figures 1 to 7:

The system of the utility model mainly consists of a satellite positioning fixed base station, a tower crane installation alignment reference station, a tower crane installation alignment mobile station, an embedded spatial data algorithm system, an embedded hoisting process monitoring and management system, a car hoisting monitor, and a tower crane without It is composed of a cloud platform for hoisting and on-site dispatching and commanding. The system architecture is shown in Figure 1.

1: Satellite positioning fixed base station:

It is to provide differential data for each tower crane installation alignment base station and mobile station, and it is the core control part of the alignment accuracy of the entire system. Its working principle is: the fixed base station host CXM300 sends the differential data to the base position of the tower crane, or the installation pair of the tower crane through the first digital radio station 915L30 through the high-precision positioning data obtained by itself through the first satellite positioning antenna AT300. The base station and tower crane are installed on the receiver of the mobile station for alignment; the receiver performs differential calculation between its own positioning data and the differential data of the base station, and finally obtains centimeter or millimeter level alignment data. The schematic diagram of the satellite positioning fixed base station is shown in Figure 2.

2: Install the alignment base station:

System composition: It consists of the second satellite positioning antenna AT300, the third satellite positioning antenna AT300, the second digital radio station 915L30, the first vehicle camera BS-CA33-IP, the alignment reference station host CXM300, the first switch 005, the first A network bridge AP20 and other components, the schematic diagram is shown in Figure 3.

When working, the host CXM300 of the alignment base station will automatically calculate the position coordinates of the two satellite positioning antennas AT300, and the second digital radio 915L30 will continuously communicate with the fixed base station for satellite positioning to continuously correct the coordinate accuracy of the host of the alignment base station CXM300. At the same time, the host CXM300 of the alignment base station will send the coordinate information of the two satellite positioning antennas AT300 to the car hoisting monitor and the on-site dispatching command platform through the first network bridge AP20, so as to provide the target position for the on-site dispatching command platform to command the standard section of the car hoisting and hoisting. . The first vehicle-mounted camera BS-CA33-IP is responsible for monitoring the connection between the mobile ear and the fixed ear when hoisting the balance arm and the jib, which is convenient for the driver to adjust the boom posture in time and improve the docking and fixing efficiency.

The implementation process is as follows:

According to the tower crane installation process, under the condition that the tower crane base meets the standard requirements, the tower crane foundation section must be installed first. The instructions are required to be fixed on the center axis of the horizontal braces on both sides of the foundation section. At the same time, the installation instructions of the laser ranging sensor reflector plate are required to be installed at 90 degrees to the center line of the horizontal braces of the foundation segment, and then aligned with the host CXM300 system of the base station. Connect, power on, and start working. Since the size of each process is different, the space algorithm will also be different, until the tower cap is installed in place, the installation alignment reference station will not move. However, after the tower body and tower cap are installed in place, the installation alignment reference station should be moved to the revolving tower, and the second and third satellite positioning antenna AT300 and the balance arm should be installed on the center axis of the revolving tower in a horizontal line. Then, install the first vehicle-mounted camera BS-CA33-IP in the installation direction of the tower cap by the balance arm, and align the camera head at the joint of the balance arm and the turntable to provide video support for the installation of the balance arm; the first vehicle-mounted camera BS-CA33 -After the IP is installed in place, install the reflector of the laser ranging sensor at 3M on the outer centerline of the balance arm direction sleeve, ready to receive the reflected laser ranging signal; The three-satellite positioning antenna AT300 is connected to the host CXM300 of the alignment base station, and the power of the host is turned on after correct. At this time, the host of the alignment base station CXM300 will automatically calculate the position coordinates of the host's second and third satellite positioning antennas AT300, and connect the two The coordinate information is sent to the car hoisting monitor and the on-site dispatch command platform through the first network bridge AP20, providing target position data for the car hoisting standard section, and providing target position data for the on-site dispatch command platform to command the car hoisting standard section. When the balance arm is installed in place, raise the tail of the balance arm by a specified degree according to the program requirements, so that the installer can connect the balance arm pull rod. After the installation of the balance arm is completed, the first on-board camera BS-CA33-IP and the reflector of the laser ranging sensor should be changed to the same position in the direction of the boom and fixed, waiting to receive the signal of the boom installation.

3: Install the alignment mobile station:

System composition: it consists of the fourth satellite positioning antenna, the fifth satellite positioning antenna, the third digital radio station 915L30, a laser ranging sensor HJ-70K, the second vehicle camera BS-CA33-IP, and the positioning mobile station host CXM300, second switch 005, second bridge AP20, lithium battery KMW-60A and a mobile equipment box, etc. The schematic diagram is shown in Figure 4.

When working, the host CXM300 of the alignment mobile station will automatically calculate the position coordinates of the host's fourth satellite positioning antenna, the fifth satellite positioning antenna AT300 and the height to the ground; the third digital radio station 915L30 will continuously communicate with the satellite positioning fixed base station, Through the satellite positioning fixed base station, the position coordinates of the tower crane aligning mobile station host CXM300 and the height to the ground are continuously corrected. The bridge AP20 is sent to the car hoisting monitor and the on-site dispatching command platform, providing the current standard section position data for the car hoisting standard section or the balance arm, and the jib, and instructing the car hoisting standard section or the balance arm for the on-site dispatch command platform. , The boom provides the current standard section position data. The accuracy of the laser ranging sensor HJ-70K is 1MM. It is responsible for providing accurate alignment of the current height of the equipment for the installation of tower crane related equipment. Calculate the current height and then send it to the car hoisting monitor and the on-site dispatching command platform through the second network bridge AP20 to provide the current standard section position data for the car hoisting standard section or the balance arm and the jib, and provide the on-site dispatching command platform. Command the car hoist to hoist the standard section or the balance arm and the boom to provide the current standard section position data. The second vehicle-mounted camera BS-CA33-IP is fixed on the current equipment, and is responsible for video monitoring when the current equipment is aligned.

The implementation process is as follows:

According to the tower crane installation process, during the installation process from the tower body standard section to the tower cap, the fourth satellite positioning antenna and fifth satellite positioning antenna AT300 of the mobile station should be installed in the same position as the AT300 antenna of the alignment base station. position, and install the laser ranging sensor HJ-70K on the central axis of the standard section horizontal support at 90 degrees to the satellite positioning antenna AT300 according to the requirements of the manual, and install the second vehicle camera BS-CA33-IP on the outside of the standard section. Aim at the connection of the lower standard section, and then fix the CXM300 of the mobile station host, and you can turn on the power and work. After the tower body and the tower cap are installed in place, install the mobile station on the center axis of the balance arm, and control the distance between the fourth satellite positioning antenna and the fifth satellite positioning antenna within 3-5M, forming two points in a line Then, install the laser ranging sensor HJ-70K on the center line of the balance arm and the direction of the turntable, the head of the laser ranging sensor HJ-70K is vertically downward, and prepare to emit laser ranging to the reflector installed on the set frame. Signal; install the second vehicle camera BS-CA33-IP at the front end of the balance arm within 3M from the balance arm connecting ear through the fixing bracket, and align the second vehicle camera BS-CA33-IP with the balance arm connecting ear, and then fix it properly. Position the mobile station host CXM300, connect the fourth satellite positioning antenna, fifth satellite positioning antenna AT300, laser ranging sensor HJ-70K with the positioning mobile station host CXM300, and connect the second vehicle camera BS-CA33-IP with the second switch . When the balance arm is installed in place, the satellite alignment mobile station CXM300 system antenna should be installed on the center axis of the boom before hoisting, keeping a distance of 3-5M, and then the laser ranging sensor HJ-70K should be installed on the On the center line of the direction of the boom and the turntable, the laser ranging sensor HJ-70K head is vertically downward, ready to transmit the laser ranging signal to the reflector installed on the frame; The fourth satellite positioning antenna and the fifth satellite positioning antenna AT300 are connected to the host CXM300 of the alignment mobile station, and power on after correct.

4: Car hoisting alignment monitor:

System composition: it is composed of body level sensor ZCT21M-LNQ, outrigger hydraulic sensor YYQ-35, torque limiter, wind speed sensor YGC-FS, car hoisting alignment monitor S7-200SMARTSR20, relay control board, third switch 005 , touch screen TCP7062Ti, face recognition sensor KAIris200, IP walkie-talkie FY-F30, data transmission module 915L30, 4G communication module LTE-DTU-360 and video surveillance system dome camera S820IPC, hook surveillance camera CX-SXJ100, video recorder DS-7804HQH, It consists of display LED1401, third network bridge 1AP20, fourth network bridge 2AP20, embedded security protection software, process management software and satellite alignment calculation software. The schematic diagram is shown in Figure 5 and Figure 6.

When working, the driver of the truck crane swipes his face through the face recognition sensor KAIris200, and then sends the driver information to the tower crane worry-free hoisting network cloud platform through the touch screen TCP7062Ti, through the switch 005, and the 4G communication module LTE-DTU-360. The dispatching command platform and related The management personnel confirm online, when the monitor host S7-200SMARTSR20 receives the confirmation information from the dispatching command platform and relevant management personnel, the system starts to work. The touch screen TCP7062Ti is embedded with process management software, safety protection software and alignment calculation software. It is equipped with an alarm device, which will automatically sound an alarm when an alarm event occurs. The body level sensor ZCT21M-LNQ is mainly responsible for the detection of body level. It can detect the level in both X/Y directions, and then send the level signal to the monitor host S7-200SMARTSR20. When the body tilt exceeds the rated standard, the monitor will The host S7-200SMARTSR20 will immediately send out an alarm sound and output control signals to control the crane to continue lifting or slewing operations to avoid major safety accidents. DTU-360 sends the information to the tower crane worry-free hoisting cloud platform, which is monitored by the dispatching command platform and related management personnel. It can communicate with the dispatching command platform and related management personnel through the IP walkie-talkie. The outrigger hydraulic sensor is responsible for detecting the pressure of the four outriggers. When a certain outrigger loses pressure, the monitor host S7-200SMARTSR20 will immediately issue an alarm sound, and output a control signal at the same time to prohibit the crane from continuing to lift or slew. A major safety accident occurs; at the same time, the monitor host S7-200SMARTSR20 will send information to the tower crane worry-free hoisting cloud platform through the third switch 005 and 4G communication module LTE-DTU-360, and the dispatching command platform and relevant management personnel will monitor the Internet , When the dispatching command platform and related management personnel will intervene with the truck crane driver through the IP walkie-talkie, the truck crane driver can also communicate with the dispatching command platform and related management personnel through the IP walkie-talkie.

The torque limiter is obtained by using the original equipment through communication or other acquisition of torque signals. When the working torque of the car crane exceeds the rated torque, the monitor host S7-200SMARTSR20 will immediately alarm and control to ensure the safety of lifting; at the same time, the monitor host S7-200SMARTSR20 will send the information to the tower crane worry-free hoisting cloud platform through the third switch 005 and 4G communication module LTE-DTU-360, and the dispatching command platform and relevant management personnel will monitor the Internet. When the dispatching command platform and relevant management personnel The truck crane driver will be intervened through the IP walkie-talkie, and the truck crane driver can also communicate with the dispatch command platform and related management personnel through the IP walkie-talkie;

The wind speed sensor YGC-FS continuously sends the collected wind speed signal to the monitor host S7-200SMARTSR20 and the monitor host S7-200SMARTSR20. After comparison, the display signal is sent to the touch screen, the control signal is sent to the relay board, and the communication signal is sent to the Three switches 005, 4G communication module LTE-DTU-360 send the information to the tower crane worry-free hoisting network cloud platform, which is monitored by the dispatching command platform and related management personnel online. The crane driver intervenes, and the truck crane driver can also communicate with the dispatch command platform and related management personnel through the IP walkie-talkie.

The driver's cab dome camera S820IPC and the hook monitoring camera CX-SXJ100, send the video monitoring signal to the video recorder DS-7804HQH, and the video recorder to the display LED1401 for display, for the driver to monitor the use of the work, at the same time through the third bridge 1AP20 video information Send it to the dispatching command platform and related management personnel for monitoring, which is convenient for decision-making and commanding. Through the fourth network bridge 2AP20, the video signal from the tower crane installation alignment reference station and the video signal from the tower crane installation alignment mobile station are received; in this way, the driver can not only see the video of the hook, but also the alignment and fixation of the tower crane. and mobile signals,

The data transmission station 915L30 is used as a backup channel. When there is a problem with the 4G communication LTE-DTU-360, the system automatically switches to the data transmission state to communicate with the dispatching command platform to ensure smooth communication under any conditions.

Implementation process:

The first step is to select the working mode, whether to prepare for installation or removal.

The second step, select the installation location: whether the tower body is installed or not, whether the balance arm is installed or not, whether the lifting arm is installed or not, etc. After selecting, press [OK] to confirm;

The third step, select the installation process, such as: now install the standard section of the tower body part, after selecting, press [OK] to confirm;

Start work after selection; if the selected process or mode is wrong with the current operation, once it enters the working state, the system will immediately alarm and control, and the system cannot operate normally; thus ensuring orderly, safe and efficient installation or removal;

If the tower body installation is selected, the system is currently executing the tower body installation program. At this time, the touch screen will display the target coordinate position of the first standard section of the tower crane; the standard section is at a standard height from the ground, and when the hook is lifted When the standard section of the mobile alignment station has been installed, the touch screen will display the coordinates of the current standard section and the height from the ground. When the current standard section moves to the target position, the height from the bottom of the standard section hung by the hook must be greater than the height of the base section. Otherwise, the car hoisting monitor will be forbidden to rotate to prevent the collision between the standard section and the base section; only when the bottom of the standard section currently hoisted is higher than 3M, the car hoist is allowed to do the turning operation under the hoisting monitor;

Then, the touch screen will display the closest distance and height between the position coordinates of the current standard section and the position coordinates of the base section. The driver gradually adjusts the rotation angle and amplitude according to the target coordinates and the current coordinates. When the target coordinates coincide with the current coordinates, the crane can be operated. Hook down the handle, slowly put the standard section on the base section, and the installation worker will tighten each bolt. When the last bolt is tightened, the supervisor will take a picture and upload it. After the on-site dispatch command platform [confirm], the installation will The worker removes the satellite antenna, the laser ranging sensor and the camera separately, puts them in the mobile equipment box, and hoists them together with the lifting wire rope to the next target standard section position to be hoisted, and then enters the next installation process;

The tower body and tower cap installation procedures are similar;

When entering the installation link of the balance arm and the boom arm, first select the process to [Balance Arm Installation] or [Boom Arm Installation]. When [Balance Arm Installation] is selected, the car hoisting monitor will surround the tower. The center of body rotation automatically establishes a safety protection circle. In the area below the tower cap, the truck crane is automatically prohibited from lifting the balance arm into the safety protection circle to prevent the balance arm from accidentally colliding with the tower body; the alignment method is based on the "two According to the principle of "point to determine a straight line", a straight line formed by the two satellite antennas of the balancing arm or boom coincides with a straight line formed by the two satellite antennas on the turret, and then look at the connecting ears of the balancing arm or the boom and the slewing The distance between the connecting ears of the table, if the connecting ears are accurately aligned, you can operate the hook lowering handle, slowly put the connecting ears of the boom on the fixing ears of the turntable, and then the installation worker will pass the connecting pins into the connecting ears, Insert the nose pin and open the mouth; then, according to the command of the command station, hoist the tail of the balance arm or the head of the boom, and cooperate with the installer to install the tie rod; until the tie rods on both sides are installed, according to the command, lift the balance arm or lift The arm is leveled; the tower crane installation task is completed.

When hoisting, the driver can not only see the satellite alignment coordinates and other information through the touch screen TCP7062Ti, but also through the display LED1401, the hook camera CX-SXJ100 and the standard section or the camera BS-CA33-IP on the balance arm and the jib can be clearly seen The whole process of installation video is monitored to the scene, so that the driver can experience the scene in person.

5: On-site command and dispatch platform and video surveillance system:

It consists of a scanner Perfection V19, laser printer P1108, GPS/4G communication MD620, intercom commander M800, switch 005, laptop DELLG7, etc. The video part is composed of video recorder DS-7816HQH + hard disk + display DELL1912H + switch 005 + video receiving bridge AP20 and so on. Dispatching and commanding personnel can monitor all video operating conditions on site through the display DELL1912H, and communicate with installation operators, supervisors, and operating drivers through the intercom commander M800, so as to effectively coordinate various work links and steps. The working principle diagram of the on-site command and dispatch platform is shown in Figure 7.

The dispatch command software of the on-site command and dispatch platform is installed in the notebook computer DELLG7; the scanner Perfection V19, the laser printer P1108, and the total station (customer equipment) are connected with the notebook computer DELLG7; the notebook computer DELLG7 is connected to the tower through a network cable. The machine is connected to the network cloud platform of worry-free hoisting; the laptop DELLG7 is connected to the tower crane network cloud platform through switch 005 and GPS/4G communication MD620; the service software of the intercom commander M800 is installed in the tower crane. On the cloud server of the hoisting network cloud platform, the intercom commander M800 is connected to the tower crane hoisting network cloud platform through the switch 005, the laptop DELLG7, and the network cable. The IP walkie-talkie AP20 of the tower crane adding and descending monitor, tower crane bolt monitor and other equipment is connected; the video recorder DS-7816HQH is connected with the display DELL1912H, and the video recorder DS-7816HQH is connected with the video receiving bridge AP20 through the switch 005. The mobile APP is connected to the tower crane worry-free hoisting network cloud platform. The dispatching commander can view all-round information such as on-site pictures, videos, and texts through the mobile APP at any location, and can coordinate on-site construction operations in real time to ensure safe and efficient operations.

The information processing part is mainly composed of notebook computer DELLG7, laser printer P1108, switch 005, GPS/4G communication module MD620, digital radio 915L30 and tower crane worry-free hoisting network; notebook computer daLLG7 is responsible for receiving on-site personnel, equipment and various aspects of information. Then it is analyzed, judged and processed by the intelligent management software. Due to the link between the laptop and the tower crane hoisting network platform, the comprehensive information support of the tower crane hoisting network platform can be obtained in time to ensure, tower crane installation, operation, Safe and efficient to dismantle, the laser printer P1108 is responsible for document output printing. Mobile APP, dispatching and commanding personnel can view all-round information such as on-site pictures, videos, and texts through the mobile APP at any location, and can coordinate on-site construction operations in real time to ensure safe and efficient operations.

When working, the dispatching command platform is connected to the tower crane worry-free hoisting network platform through the network. During the hoisting operation, you will see various monitoring and alarm data sent by the truck crane to the monitor terminal on the tower crane worry-free hoisting network platform. If it is found that a certain process is not standardized or non-standard, or a certain safety parameter is alarmed, the dispatching commander can correct it in time through the walkie-talkie; at the same time, the dispatching commander can view the on-site video through the monitor, and conduct the entire construction process on-site. Monitoring, when unsafe actions such as illegal operations are found, they can be corrected in time through the walkie-talkie to avoid safety accidents.

Claims (10)

1. An intelligent alignment navigation system for installing a tower crane comprises a satellite positioning fixed base station, an installation alignment reference station, an installation alignment mobile station, a hoisting monitor, a cloud platform and a field scheduling command platform; the method is characterized in that:

the satellite positioning fixed base station is used for acquiring positioning data and sending the positioning data to the installation alignment reference station and the installation alignment mobile station;

the installation alignment reference station is used for calculating the position coordinates of the installation alignment reference station, performing interactive communication with the satellite positioning fixed base station to correct the coordinate precision of the installation alignment reference station, and sending coordinate information to the hoisting monitor and the field dispatching command platform;

the installation alignment mobile station is used for calculating the position coordinate and the height to the ground of the installation alignment mobile station, interactively communicating with the satellite positioning fixed base station to correct the coordinate precision and the height to the ground of the installation alignment mobile station, and sending the coordinate information and the height information to the hoisting monitor and the field scheduling command platform;

the hoisting monitor is respectively in communication connection with the cloud platform and the field scheduling command platform, and the cloud platform is connected with the mobile phone APP.

2. The intelligent alignment navigation system for tower crane installation according to claim 1, characterized in that: the satellite positioning fixed base station comprises a first satellite positioning antenna and a first data transmission radio station; the first satellite positioning antenna and the first data transmission radio station are connected with the fixed base station host.

3. The intelligent alignment navigation system for tower crane installation according to claim 1, characterized in that: the tower crane installation alignment reference station comprises a second satellite positioning antenna, a third satellite positioning antenna and a second data transmission radio station; the second satellite positioning antenna, the third satellite positioning antenna and the second digital radio station are connected with the alignment reference station host, the alignment reference station host and the first vehicle-mounted camera are connected with the first switch, and the first switch is connected with the first bridge.

4. The intelligent alignment navigation system for tower crane installation according to claim 1, characterized in that: the tower crane installation alignment mobile station comprises a fourth satellite positioning antenna, a fifth satellite positioning antenna, a third data transmission radio station and a laser ranging sensor; the fourth satellite positioning antenna, the fifth satellite positioning antenna, the third data transmission radio station and the laser ranging sensor are connected with the alignment mobile station host, the alignment mobile station host and the second vehicle-mounted camera are connected with the second switch, and the second switch is connected with the second network bridge.

5. The intelligent alignment navigation system for tower crane installation according to claim 1, characterized in that: the tower crane installation is counterpointed the mobile station and is still included the lithium cell, and the lithium cell is connected and is counterpointed the mobile station host computer.

6. The intelligent alignment navigation system for tower crane installation according to claim 1, characterized in that: the hoist and mount monitor includes:

the vehicle body level sensor is used for detecting the levelness of the vehicle body;

the landing leg hydraulic sensor is used for detecting the pressure of four landing legs;

the moment limiter is used for detecting a moment signal;

the wind speed sensor is used for acquiring a wind speed signal;

the monitoring system is characterized in that the vehicle body level sensor, the supporting leg hydraulic sensor, the torque limiter and the wind speed sensor are all connected with a monitor host, the monitor host is connected with a third switch, and the third switch is connected with the 4G communication module and connected with the cloud platform.

7. The intelligent alignment navigation system for tower crane installation according to claim 6, characterized in that: hoist and mount monitor still includes:

the facial makeup recognition sensor is used for collecting facial makeup information of maintenance personnel and supervision management personnel, and is connected with the touch screen which is connected with the third switch.

8. The intelligent alignment navigation system for tower crane installation according to claim 6, characterized in that: hoist and mount monitor still includes:

the IP interphone and the data transmission radio station are connected with a third switch,

the IP interphone is used for the communication between a truck crane driver and the field dispatching command platform; the data transmission radio station is used for being in communication connection with the field dispatching command platform.

9. The intelligent alignment navigation system for tower crane installation according to claim 6, characterized in that: hoist and mount monitor still includes:

the dome camera is used for monitoring the work of a driver,

a monitoring camera for monitoring the operation of the lifting hook,

the dome camera and the monitoring camera are connected with the video recorder, the video recorder is connected with the display, the video recorder is connected with the third switch, and the third switch is connected with the network bridge.

10. The intelligent alignment navigation system for tower crane installation according to claim 6, characterized in that: the field dispatching command platform comprises:

the system comprises a scanner and a laser printer, wherein the scanner and the laser printer are connected with a notebook computer;

the talkback command machine and the total station are connected with a third switch;

the third switch is connected with a notebook computer, and the notebook computer is connected with the cloud platform through a network.

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