CN216403660U - Tower crane intelligence keeps away barrier lifting hook and control system thereof - Google Patents
Tower crane intelligence keeps away barrier lifting hook and control system thereof Download PDFInfo
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- CN216403660U CN216403660U CN202120887477.1U CN202120887477U CN216403660U CN 216403660 U CN216403660 U CN 216403660U CN 202120887477 U CN202120887477 U CN 202120887477U CN 216403660 U CN216403660 U CN 216403660U
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
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Abstract
The utility model discloses an intelligent obstacle avoidance lifting hook of a tower crane and a control system thereof. The utility model relates to a lifting hook and a control system thereof, wherein the lifting hook comprises a lifting hook body, an obstacle avoidance processing unit, a first communication unit, a first alarm unit and a first power supply, the center control processing module comprises a processor unit, a sensor unit, a mechanism driving unit and a second power supply, and the mobile terminal equipment comprises an equipment shell, an industrial control touch display screen, a control handle, a second communication unit and a second alarm unit.
Description
Technical Field
The utility model relates to the technical field of tower crane assistance, in particular to an intelligent obstacle avoidance lifting hook of a tower crane and a control system thereof.
Background
The tower crane (tower crane for short) is one of the important tools for vertical and horizontal load transportation in building construction, and has the operating characteristics of large lifting capacity, high height and long amplitude. With the comprehensive spreading of the national large capital construction, high-rise buildings are more and more dense, and the frequency of tower crane cross operation among building sites and among a plurality of tower cranes is higher and higher. In addition to the situations of collision, scratch and the like possibly generated with known obstacles (such as a tower crane, a building and the like) in the operation process of the tower crane, the tower crane also has the situations of collision, scratch and the like possibly generated with unknown and suddenly-occurred obstacles (such as people, temporarily-stacked materials and the like), and great potential safety hazards exist.
Aiming at the potential safety hazard, a tower crane safety monitoring system is required to be installed on hoisting equipment to monitor the running state of a tower crane, and tower crane running data is displayed on a monitoring screen for driver driving assistance judgment when mandatory safety files are exported in related industries. The common safety monitoring system for the tower cranes has the advantages that information such as height, amplitude, rotation angle, wind speed and gears is collected and displayed, the anti-collision arrangement is carried out among the tower cranes with limited numbers, and the visual and rope arrangement monitoring video monitoring of the lifting hooks is matched. However, the monitoring mode is only a driving reference, and a driver checks monitoring and field conditions to judge whether the vehicle is dangerous or not, so that the vehicle is decelerated and stopped for avoiding, the vehicle belongs to 'passive' monitoring, the sudden situation cannot be automatically avoided, and certain potential safety hazards still exist.
Patent number CN209635755U, this utility model patent disclose a tower crane unmanned driving system, including modules such as hand-held device, two mesh cameras, image processing host computer, three-dimensional modeling system, system controller, main control industrial computer. The system is provided with a binocular camera and an image processing host machine on a tower crane trolley, and is used for acquiring image data and generating three-dimensional point cloud; the three-dimensional modeling system extracts modeling information from the three-dimensional point cloud and constructs a three-dimensional live-action map; the system controller sends three-dimensional live-action map information to the handheld equipment, receives position information and control request information sent by the handheld equipment, plans a running path of the tower crane on the three-dimensional live-action map according to the information, and then sends path confirmation information to the handheld equipment; and the master control industrial personal computer controls the tower crane to operate according to the planned operation path according to the tower crane operation path confirmed by the handheld device.
Patent number CN08750950A provides a tower crane with autopilot function and autopilot control method thereof, the radar monitoring unit has been increased on the basis of tower crane basic structure unit is controlled in traditional artifical high altitude, handheld terminal unit, the information transfer unit, central information processing and autopilot control unit, mode through radar and camera combine together, set up on the tower crane dolly, carry out the measurement and the processing data of distance, radial velocity, position, height etc. to the target, and then carry out mapping and environmental localization, plan the route, various barriers are kept away, make the tower crane accomplish the transportation task smoothly.
Patent number CN208994994U discloses a barrier system is kept away to tower crane based on keep away barrier lifting hook, through keeping away barrier detecting element, communication unit, modules such as controller inlay in the detection cavity and the annular of lifting hook, the completion is to barrier information, the detection of lifting hook mobility information etc, and with tower crane control system communication, the action of control tower crane, after the barrier distance exceeded warning scope, the controller still can control the opening of inlaying the nozzle solenoid valve on the lifting hook, the gas of blowout compression air chamber reaches the purpose to the lifting hook speed reduction.
Although the prior art can realize automatic path planning and obstacle avoidance to a certain degree, the frequency of the path confirmation needing personnel to participate is high, the manual confirmation is needed each time the obstacle is met, namely the automatic obstacle avoidance is not realized, and the path planning is only executed by the determination of the personnel after the automatic stop; the environment data measuring equipment is arranged on the amplitude variation trolley, the distance between the measured hanging weight and the obstacle is too far, and certain accuracy is insufficient; the lifting hook is easy to be unbalanced in stress when the air injection device is used for emergency braking, and safety accidents of rotation and scattering of the lifted object are caused.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide an intelligent obstacle avoidance lifting hook of a tower crane and a control system thereof. According to the intelligent obstacle avoidance lifting hook and the control system thereof for the tower crane, the convenience and the intelligence are higher, the real-time map construction and positioning are realized by using the binocular depth-of-field camera, the laser ranging sensor, the height and other sensing equipment and the high-performance microprocessor, the optimal transportation path is automatically planned, the obstacle is automatically judged and avoided, the number of operators is saved, the construction efficiency is improved, the design is scientific, and the system stability is high, and the technical scheme adopted by the utility model is as follows:
according to one aspect of the utility model, the intelligent obstacle avoidance lifting hook of the tower crane and the control system thereof are provided, and the intelligent obstacle avoidance lifting hook comprises a lifting hook body, an obstacle avoidance processing unit, a first communication unit, a first alarm unit and a first power supply, wherein the obstacle avoidance processing unit, the first communication unit, the first alarm unit and the first power supply are all arranged on the lifting hook body, and the obstacle avoidance processing unit, the first communication unit and the first alarm unit are all electrically connected with the first power supply;
the central control processing module comprises a processor unit, a sensor unit, a mechanism driving unit and a second power supply, the processor unit, the sensor unit and the mechanism driving unit are all electrically connected with the second power supply, the processor unit is used for receiving signals of the obstacle avoidance processing unit, the mobile terminal equipment and the sensor unit, and the mechanism driving unit is used for receiving instructions of the processor unit and driving a lifting mechanism, a swing mechanism and an amplitude changing mechanism of the tower crane;
the mobile terminal device comprises a device shell, an industrial control touch display screen, an operation handle, a second communication unit and a second alarm unit, wherein the industrial control touch display screen, the operation handle, the second communication unit and the second alarm unit are all installed on the device shell, and the industrial control touch display screen is used for displaying signals transmitted by a lifting hook and a central control processing module.
Preferably, keep away barrier processing unit includes microprocessor, fixed bolster, depth of field camera, locator and laser range finding sensor, the depth of field camera passes through the fixed bolster to be connected the top of lifting hook body, microprocessor with the locator is installed on the lifting hook body, laser range finding sensor installs the periphery of lifting hook, depth of field camera, locator and laser range finding sensor all with microprocessor communication connection.
Preferably, the first communication unit comprises a router subunit, and the router subunit is mounted on the hook body.
Preferably, the first alarm unit comprises a first buzzer and a first audible and visual alarm, the first buzzer and the first audible and visual alarm are both installed on the lifting hook body, and the first buzzer and the first audible and visual alarm are both connected with the microprocessor.
Preferably, the processor unit includes an MCU chip and a WIFI transceiver subunit, and the MCU chip is connected to the microprocessor and the second communication unit through the WIFI transceiver subunit.
Preferably, the sensor unit comprises a height sensor, an angle sensor, an inclination angle sensor, a weight sensor and an air speed sensor, and the height sensor, the angle sensor, the inclination angle sensor, the weight sensor and the air speed sensor are all in data connection with the MCU chip through the WIFI transceiver subunit.
Preferably, the second alarm unit comprises a buzzer, an audible and visual alarm and a vibrator, and the buzzer, the audible and visual alarm and the vibrator are all in data connection with the second communication unit.
The technical scheme adopted by the utility model has the following remarkable effects:
the utility model utilizes the binocular field depth camera, the laser ranging sensor, the height and other sensing equipment and the high-performance microprocessor to realize the construction and the positioning of the instant map, automatically plan the optimal transportation path, autonomously judge the obstacle and avoid the obstacle, save the number of operators, improve the construction efficiency, and have scientific design and high system stability.
Drawings
FIG. 1 is a schematic diagram of the operation of the present invention;
FIG. 2 is a schematic view of the hook of the present invention;
fig. 3 is a schematic structural view of the manipulation handle of the present invention.
The system comprises a microprocessor 1, a first communication unit 2, a locator 3, a first power supply 4, a first alarm unit 5, a binocular depth of field camera 6 and a laser ranging sensor 7.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings by way of examples of preferred embodiments. It should be noted, however, that the numerous details set forth in the description are merely for the purpose of providing the reader with a thorough understanding of one or more aspects of the present invention, which may be practiced without these specific details.
As shown in fig. 1-2, the intelligent obstacle avoidance hook for the tower crane and the control system thereof according to the utility model comprise a hook, a central control processing module and a mobile terminal device, wherein the hook comprises a hook body, an obstacle avoidance processing unit, a first communication unit, a first alarm unit and a first power supply, the obstacle avoidance processing unit, the first communication unit, the first alarm unit and the first power supply are all arranged on the hook body, and the obstacle avoidance processing unit, the first communication unit and the first alarm unit are all electrically connected with the first power supply;
the central control processing module is arranged at the intersection of the upper slewing bearing and the root part of the balance arm of the tower crane, and comprises a processor unit, a sensor unit, a mechanism driving unit and a second power supply, wherein the processor unit, the sensor unit and the mechanism driving unit are electrically connected with the second power supply;
the mobile terminal device comprises a device shell, an industrial control touch display screen, a control handle, a second communication unit and a second alarm unit, wherein the industrial control touch display screen, the control handle, the second communication unit and the second alarm unit are all installed on the device shell, and the industrial control touch display screen is used for displaying signals transmitted by the lifting hook and the central control processing module.
The obstacle avoidance processing unit comprises a microprocessor, a fixed support, a depth of field camera, a positioner and a laser ranging sensor, wherein the depth of field camera, the positioner and the laser ranging sensor are all in communication connection with the microprocessor, the depth of field camera is a binocular depth of field camera, the binocular depth of field camera is arranged above the hook body through the rotatable fixed support, the binocular depth of field camera can be selected from, but not limited to, a Weijing intelligent line laser binocular stereo camera VZ-ZGY-3000G and a ZED binocular camera and is used for acquiring instant map information and obstacle information of a construction environment, 360-degree horizontal rotation is achieved through the rotatable fixed support, and image data acquisition of a site environment is completed; the laser ranging sensors are arranged on the peripheral edge of the lifting hook body and used for acquiring distance information of the lifting hook body in the ascending direction and the descending direction; the locator is arranged in the cavity of the hook body, can select one of a GPS (global positioning system), a Beidou positioning module or a dual-mode locator and is used for acquiring positioning information of the hook; the microprocessor is arranged in the cavity of the hook body, adopts an ADAS chip with the model of S32V234, processes and analyzes data transmitted from the binocular field depth camera, the laser ranging sensor and the positioner, and outputs corresponding control signals according to set control logic.
The first communication unit comprises a router subunit, the router subunit is installed on the hook body and is a gigabit router, and a wireless WiFi function is configured for enabling the microprocessor to be in communication connection with the central control processing module and the mobile terminal device.
First alarm unit includes first bee calling organ and first audible-visual annunciator, first bee calling organ and first audible-visual annunciator are all installed on the lifting hook body, first bee calling organ and first audible-visual annunciator all with microprocessor data connection, first bee calling organ and first audible-visual annunciator are used for exporting the warning cue signal, in the lifting hook body marchs and gets into barrier early warning scope, microprocessor exports early warning signal and gives first alarm unit, make first alarm unit's bee calling organ send intermittent type nature length unanimous bee calling sound, audible-visual annunciator scintillation red light, in the lifting hook marchs and gets into barrier alarm scope, microprocessor exports alarm signal and gives first alarm unit, make first alarm unit's bee calling organ send the bee calling sound that rapid length differs, audible-visual annunciator scintillation red light and language are reported.
The first power supply unit is a detachable charging power supply, is arranged inside the lifting hook body and is used for supplying power to the obstacle avoidance processing unit, the first communication unit and the first alarm unit.
The processor unit of the central control processing module comprises an MCU chip and a WIFI transceiver subunit, the MCU chip is respectively connected with the microprocessor and the second communication unit through the WIFI transceiver subunit, and the MCU chip can be selected from but not limited to an STM32F103xD series ARM chip and is used for data acquisition, data processing, output control and parameter setting; the wireless wifi receiving and sending module is used for receiving data information of the microprocessor, the mobile terminal device and the sensor unit, outputting the data information to the mechanism driving unit after the information is processed by the MCU chip, and feeding back data signals and system operation data of the sensor unit to the lifting hook and the mobile terminal device.
The second power supply is a three-phase alternating-current power supply, a cable is connected with an electric control cabinet of a construction site, the sensor unit comprises a height sensor, an angle sensor, an inclination angle sensor, a weight sensor and an air speed sensor, the height sensor, the angle sensor, the inclination angle sensor, the weight sensor and the air speed sensor are all in data connection with the MCU chip through the WIFI transceiver sub-unit, and the mechanism driving unit is used for receiving an instruction of the MCU chip and converting an electric signal to drive a lifting mechanism, a rotating mechanism and an amplitude changing mechanism of the tower crane.
The mobile terminal equipment is a portable wireless terminal, is used for manually controlling and monitoring the tower crane and comprises an industrial control touch display screen, a control handle, a second communication unit and a second alarm unit.
The industrial control touch display screen is used for displaying data signals of three-dimensional presentation of an instant map and a planned path, the operation height, the amplitude, the rotation angle and the like of the tower crane transmitted by the lifting hook and the central control processing module, setting and inputting parameters, and supporting selection and switching of automatic operation and manual operation and control modes; manually selecting a lifting point and a lifting stopping point on an instant map of an interface in an automatic operation mode for inputting; and the tower crane is remotely driven by controlling the control handle by a person in a manual control mode.
The control handle is provided with two handles and is used for remotely controlling the tower crane in a manual control mode, wherein one handle controls an amplitude variation mechanism and a swing mechanism of the tower crane, and the other handle controls a hoisting mechanism.
The second communication unit is integrated in wireless wifi of the mobile terminal device and is used for connecting the mobile terminal device with the hook and the central control processing module in a communication mode. The second alarm unit comprises a buzzer, an audible and visual alarm and a vibrator, is integrated in the equipment shell and is used for outputting an alarm signal and prompting an operator; the driving signal of the second alarm unit is from the alarm signal of the first alarm unit of the lifting hook, when the lifting hook sends out the alarm signal, the second alarm unit also sends out the same alarm signal, distinguish it is the vibration that accompanies the vibrator when the second alarm unit alarms.
As shown in fig. 3, an operator controls the tower crane to rotate for one circle through a control handle of the mobile terminal device, the lifting hook collects full-field map information to the microprocessor through the binocular depth-of-field camera, the laser ranging sensor and the locator, and an SLAM algorithm is fused to construct an instant map; the map information is transmitted to the mobile terminal equipment through the first communication unit, an operator selects a lifting point and a lifting stopping point on an industrial control touch display screen of the mobile terminal equipment, the input information is automatically sent to a microprocessor of a lifting hook, the microprocessor carries out optimal path planning, and a path planning result is simultaneously sent to the mobile terminal equipment and a central control processing module; the central control processing module controls the lifting hook to automatically move to a lifting point according to the path information, and transports the heavy object along the planned optimal path after the heavy object is lifted; if an unexpected obstacle appears on the way, the microprocessor of the lifting hook comprehensively analyzes the sensor data of the lifting hook and the information of the peripheral sensor of the central control processor, plans another path for avoiding the obstacle, sends the analysis result to the central control processor, realizes automatic deceleration or stops avoiding the obstacle, and then runs along the planned other path; and the lifting hook lifts the heavy object to a lifting stopping point, and waits for a next lifting instruction after the heavy object is lifted.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be construed as the protection scope of the present invention.
Claims (7)
1. The utility model provides a barrier lifting hook is kept away to tower machine intelligence and control system thereof which characterized in that: the lifting hook comprises a lifting hook body, an obstacle avoidance processing unit, a first communication unit, a first alarm unit and a first power supply, wherein the obstacle avoidance processing unit, the first communication unit, the first alarm unit and the first power supply are all arranged on the lifting hook body, and the obstacle avoidance processing unit, the first communication unit and the first alarm unit are all electrically connected with the first power supply;
the central control processing module comprises a processor unit, a sensor unit, a mechanism driving unit and a second power supply, the processor unit, the sensor unit and the mechanism driving unit are all electrically connected with the second power supply, the processor unit is used for receiving signals of the obstacle avoidance processing unit, the mobile terminal equipment and the sensor unit, and the mechanism driving unit is used for receiving instructions of the processor unit and driving a lifting mechanism, a swing mechanism and an amplitude changing mechanism of the tower crane;
the mobile terminal device comprises a device shell, an industrial control touch display screen, an operation handle, a second communication unit and a second alarm unit, wherein the industrial control touch display screen, the operation handle, the second communication unit and the second alarm unit are all installed on the device shell, and the industrial control touch display screen is used for displaying signals transmitted by a lifting hook and a central control processing module.
2. The intelligent obstacle avoidance lifting hook of the tower crane and the control system thereof as claimed in claim 1, wherein: keep away barrier processing unit includes microprocessor, fixed bolster, depth of field camera, locator and laser range finding sensor, the depth of field camera passes through the fixed bolster to be connected the top of lifting hook body, microprocessor with the locator is installed on the lifting hook body, laser range finding sensor installs the periphery of lifting hook, depth of field camera, locator and laser range finding sensor all with microprocessor communication connection.
3. The intelligent obstacle avoidance lifting hook of the tower crane and the control system thereof as claimed in claim 1, wherein: the first communication unit comprises a router subunit, and the router subunit is mounted on the hook body.
4. The intelligent obstacle avoidance lifting hook of the tower crane and the control system thereof as claimed in claim 2, wherein: the first alarm unit comprises a first buzzer and a first audible and visual alarm, the first buzzer and the first audible and visual alarm are both installed on the lifting hook body, and the first buzzer and the first audible and visual alarm are both connected with the microprocessor.
5. The intelligent obstacle avoidance lifting hook of the tower crane and the control system thereof as claimed in claim 2, wherein: the processor unit comprises an MCU chip and a WIFI transceiver subunit, and the MCU chip is respectively connected with the microprocessor and the second communication unit through the WIFI transceiver subunit.
6. The intelligent obstacle avoidance lifting hook of the tower crane and the control system thereof as claimed in claim 5, wherein: the sensor unit comprises a height sensor, an angle sensor, an inclination angle sensor, a weight sensor and an air speed sensor, wherein the height sensor, the angle sensor, the inclination angle sensor, the weight sensor and the air speed sensor are all in data connection with the MCU chip through the WIFI transceiver subunit.
7. The intelligent obstacle avoidance lifting hook of the tower crane and the control system thereof as claimed in claim 1, wherein: the second alarm unit comprises a buzzer, an audible and visual alarm and a vibrator, and the buzzer, the audible and visual alarm and the vibrator are all in data connection with the second communication unit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120887477.1U CN216403660U (en) | 2021-04-27 | 2021-04-27 | Tower crane intelligence keeps away barrier lifting hook and control system thereof |
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| CN202120887477.1U CN216403660U (en) | 2021-04-27 | 2021-04-27 | Tower crane intelligence keeps away barrier lifting hook and control system thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114906737A (en) * | 2022-07-19 | 2022-08-16 | 杭州未名信科科技有限公司 | Lifting hook posture adjusting system and method and tower crane |
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2021
- 2021-04-27 CN CN202120887477.1U patent/CN216403660U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114906737A (en) * | 2022-07-19 | 2022-08-16 | 杭州未名信科科技有限公司 | Lifting hook posture adjusting system and method and tower crane |
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