CN220745205U

CN220745205U - Unmanned control system of tower crane

Info

Publication number: CN220745205U
Application number: CN202321868709.4U
Authority: CN
Inventors: 樊治平; 杨宏军; 门新延; 王阳阳; 李梦丹
Original assignee: Shaanxi Construction Machinery Co ltd
Current assignee: Shaanxi Construction Machinery Co ltd
Priority date: 2023-07-17
Filing date: 2023-07-17
Publication date: 2024-04-09
Anticipated expiration: 2033-07-17

Abstract

The utility model provides a tower crane unmanned control system, which comprises two talkback positioning control terminals, an information sensor group, a laser radar sensor, a central control unit, a tower crane electric control unit and a tower crane executing mechanism, wherein the information sensor group is connected with the central control unit; the two intercom positioning control terminals respectively acquire real-time space position data of a ground hoisting point and a target unloading point in the running process of the tower crane; the information sensor group acquires the state information of the tower crane in the running process of the tower crane; the laser radar sensor scans three-dimensional modeling data of surrounding environmental barriers of the tower crane; the central control unit generates three-dimensional model data and a preset running path of the tower crane; the tower crane control unit generates a preset running path of the tower crane and converts the preset running path into a path control instruction so that the tower crane actuating mechanism drives the tower crane to run. The tower crane system autonomously collects the running state and surrounding environment data of the tower crane and generates a path planning to control the running of the tower crane, so that the problem of low intelligent degree of the operation of the tower crane in the prior art is solved.

Description

Unmanned control system of tower crane

Technical Field

The utility model relates to the field of unmanned aerial vehicles, in particular to a tower crane unmanned control system.

Background

The tower crane is hoisting equipment commonly used on a building site, the control mode of the tower crane at present is that the tower crane is operated in cooperation with ground commanders, the tower crane needs to enter a tower crane cab located at high altitude for operation, the tower crane is inconvenient to enter and exit the cab in extreme weather, a tower crane driver needs to operate at high altitude, the working environment is bad, and if a tower crane collapse accident is encountered, the life safety of the tower crane is greatly threatened. The safety monitoring system used on the tower crane monitors the working state of the tower crane in real time through various sensors and cameras, assists the tower crane to perform safety operation, has an anti-collision function, and gives out acousto-optic early warning and warning when approaching a rated limit value, so that dangerous operation automatic cut-off of the tower crane is realized. However, the high-altitude operation mode of the tower is not solved, and the existing tower crane safety system has the following problems:

1. video monitoring in the safety monitoring system is easily influenced by environmental factors such as weather illumination and the like and the operation height of the tower crane, so that the recognition degree is reduced, and misoperation is easy to occur;

2. the anti-collision function in the existing safety system can only realize the problem of collision between the towers with the same type of anti-collision equipment, but cannot solve the problem of collision between the towers with the anti-collision equipment and the towers with the different types of anti-collision equipment, and between the towers with the anti-collision equipment and the towers without the anti-collision equipment, and further cannot solve the problem of collision between the towers and surrounding buildings;

3. the tower department needs ground commander to cooperate, just can know the concrete position of hanging the thing and whether hoist and mount route is safe, leads to the operating efficiency low, has certain potential safety hazard.

Therefore, the intelligent operation of the tower crane has become a necessary development trend.

Disclosure of Invention

The utility model mainly aims to provide a unmanned control system of a tower crane, which at least solves the problem of low intelligent degree of operation of the tower crane in the prior art.

In order to achieve the above purpose, the utility model provides a unmanned control system of a tower crane, which comprises two talkback positioning control terminals, an information sensor group, a laser radar sensor, a central control unit, a tower crane electric control unit and a tower crane executing mechanism; the two intercom positioning control terminals are respectively positioned at the ground hoisting point and the target unloading point, and are used for respectively acquiring real-time spatial position data of the ground hoisting point and the target unloading point in the running process of the tower crane; the information sensor group is arranged on the tower crane and is used for acquiring the lifting height of the tower crane lifting hook, the operation amplitude of the tower crane trolley and the rotation angle data of the tower crane lifting arm in the operation process of the tower crane; the laser radar sensor is arranged on the tower crane and is used for emitting laser beams to scan three-dimensional modeling data of surrounding environmental obstacles of the tower crane; the central control unit is connected with the information sensor group and the laser radar sensor, and is used for generating three-dimensional model data of surrounding environmental barriers of the tower crane according to three-dimensional modeling data scanned by the laser radar sensor, and generating a preset running path of the tower crane according to the lifting height of a lifting hook of the tower crane, the running amplitude of a trolley of the tower crane, the rotation angle data of a crane boom of the tower crane, real-time space position data of a ground lifting point or a target unloading point and the three-dimensional model data; the tower crane power control unit is connected with the central control unit and is used for receiving a path control instruction which can be executed by the central control unit according to the tower crane power control unit converted by the preset running path of the tower crane; the tower crane executing mechanism is connected with the tower crane electric control unit, and the tower crane executing mechanism executes a path control instruction according to the tower crane electric control unit so as to drive the tower crane to operate according to the preset running path of the tower crane.

Further, the unmanned control system of the tower crane further comprises a wireless communication module, wherein the wireless communication module is connected with the central control unit and is used for receiving and transmitting wireless communication signals; the two intercom positioning control terminals are connected with the central control unit through the wireless communication module so that the two intercom positioning control terminals communicate with the central control unit, and the two intercom positioning control terminals communicate with each other through the wireless communication module.

Further, the unmanned control system of the tower crane further comprises a power supply unit, wherein the power supply unit is connected with the information sensor group, the laser radar sensor, the central control unit, the tower crane electric control unit, the tower crane actuating mechanism and the wireless communication module to supply power to the information sensor group, the laser radar sensor, the central control unit, the tower crane electric control unit, the tower crane actuating mechanism and the wireless communication module.

Further, the information sensor group comprises a height sensor, an amplitude sensor and an angle sensor; the height sensor is arranged on a lifting mechanism gear of the tower crane balance arm and is used for monitoring the lifting height of the tower crane lifting hook in real time; the amplitude sensor is arranged on an amplitude variation mechanism gear of the tower crane boom and is used for monitoring the operation amplitude of the tower crane trolley in real time; the angle sensor is arranged on the outer side of the gear ring of the tower crane rotary upper structure and is used for measuring the rotation angle of the tower crane boom in real time.

Further, the information sensor group also comprises a wind speed sensor and a weight sensor; the wind speed sensor is arranged at the middle section of the balance arm of the tower crane and is used for monitoring the ambient wind speed of the tower crane in real time; the weight sensor is arranged at the rear end of the crane boom of the tower crane and is used for monitoring the weight of the goods lifted by the lifting hook of the tower crane in real time; the wind speed sensor and the weight sensor are connected with a central control unit, and the central control unit is also used for generating an operation control instruction according to the ambient wind speed of the tower crane and the weight of the goods lifted by the lifting hook of the tower crane; the tower crane executing mechanism is controlled by the tower crane executing mechanism to start or stop running according to the running control instruction.

Further, the central control unit comprises a data transmission module, a data processing module, a motion planning module and an adapter; the data transmission module is connected with the information sensor group, the laser radar sensor and the wireless communication module and is used for collecting and issuing real-time space position data of the lifting height of the tower crane lifting hook, the operation amplitude of the tower crane trolley, the rotation angle data of the tower crane lifting arm, the three-dimensional modeling data and the ground lifting point and the target unloading point; the data processing module is connected with the data transmission module and is used for generating three-dimensional model data according to the three-dimensional modeling data; the motion planning module is connected with the data processing module, and is used for generating and issuing a preset running path of the tower crane according to the lifting height of the lifting hook of the tower crane, the running amplitude of the trolley of the tower crane, the rotation angle data of the lifting arm of the tower crane, the real-time space position data of the ground lifting point or the destination unloading point and the three-dimensional model data, and converting the preset running path of the tower crane into a path control instruction; the adapter is connected with the motion planning module and is used for receiving the path control instruction, converting the path control instruction into parameters of all parts of the tower crane and transmitting the parameters.

Further, the two intercom positioning control terminals comprise a data receiving and transmitting module, a control module, a positioning module and a power supply module; the data receiving and transmitting module is externally connected with an antenna and is used for being connected with the central control unit through the wireless communication module so as to enable the two intercom positioning control terminals to communicate with the central control unit; the control module is connected with the data receiving and transmitting module and is used for controlling the operation of the tower crane through the data receiving and transmitting module; the positioning module is connected with the data receiving and transmitting module, and the positioning module transmits real-time spatial position data of the ground hoisting point or the target unloading point to the central control unit through the data receiving and transmitting module; the power module is connected with the data receiving and transmitting module, the control module and the positioning module to supply power to the data receiving and transmitting module, the control module and the positioning module.

Further, the two intercom positioning control terminals also comprise a communication module, and the communication module is connected with the data transceiver module to communicate with each other through the data transceiver module.

Further, the power supply module also comprises a replaceable storage battery pack and a battery quick-charging device; the replaceable storage battery pack is connected with the data receiving and transmitting module, the control module and the positioning module to supply power to the data receiving and transmitting module, the control module and the positioning module; the battery quick-charging device is provided with a quick-charging interface, is connected with the replaceable storage battery pack, and is used for shortening the charging time of the replaceable storage battery pack and improving the charging efficiency.

Further, the unmanned control system of the tower crane further comprises a cradle head, the cradle head is arranged on the arm root of the crane arm of the tower crane, and the laser radar sensor is arranged on the cradle head.

The unmanned control system of the tower crane comprises two talkback positioning control terminals, an information sensor group, a laser radar sensor, a central control unit, a tower crane electric control unit and a tower crane executing mechanism; the two intercom positioning control terminals are respectively positioned at the ground hoisting point and the target unloading point, and are used for respectively acquiring real-time spatial position data of the ground hoisting point and the target unloading point in the running process of the tower crane; the information sensor group is arranged on the tower crane and is used for acquiring the lifting height of the tower crane lifting hook, the operation amplitude of the tower crane trolley and the rotation angle data of the tower crane lifting arm in the operation process of the tower crane; the laser radar sensor is arranged on the tower crane and is used for emitting laser beams to scan three-dimensional modeling data of surrounding environmental obstacles of the tower crane; the central control unit is connected with the information sensor group and the laser radar sensor, and is used for generating three-dimensional model data of surrounding environmental barriers of the tower crane according to three-dimensional modeling data scanned by the laser radar sensor, and generating a preset running path of the tower crane according to the lifting height of a lifting hook of the tower crane, the running amplitude of a trolley of the tower crane, the rotation angle data of a crane boom of the tower crane, real-time space position data of a ground lifting point or a target unloading point and the three-dimensional model data; the tower crane power control unit is connected with the central control unit and is used for receiving a path control instruction which can be executed by the central control unit according to the tower crane power control unit converted by the preset running path of the tower crane; the tower crane executing mechanism is connected with the tower crane electric control unit, and the tower crane executing mechanism executes a path control instruction according to the tower crane electric control unit so as to drive the tower crane to operate according to a preset running path of the tower crane. The tower crane system autonomously collects the running state and surrounding environment data of the tower crane and generates a path planning to control the running of the tower crane, so that the problem of low intelligent degree of the operation of the tower crane in the prior art is solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model. In the drawings:

FIG. 1 is a schematic structural view of an optional unmanned control system for a tower crane according to an embodiment of the present utility model;

FIG. 2 is a schematic diagram of an information sensor set of an optional unmanned control system for a tower crane according to an embodiment of the present utility model;

FIG. 3 is a schematic diagram of the central control unit of an optional unmanned control system for a tower crane according to an embodiment of the present utility model;

fig. 4 is a schematic structural diagram of two intercom positioning control terminals of an optional unmanned control system of a tower crane according to an embodiment of the utility model;

FIG. 5 is a schematic view of a cradle head of an optional unmanned control system for a tower crane according to an embodiment of the present utility model;

FIG. 6 is a schematic diagram of an alternative ROS MoveIt platform, in accordance with an embodiment of the present utility model;

FIG. 7 is a schematic diagram of a preset path plan for an alternative unmanned control method for a tower crane according to an embodiment of the present utility model;

fig. 8 is a preset path planning flowchart of an alternative unmanned control method for a tower crane according to an embodiment of the present utility model.

Wherein the above figures include the following reference numerals:

10. two intercom positioning control terminals; 11. a data receiving and transmitting module; 12. a control module; 13. a positioning module; 14. a power module; 141. a replaceable battery pack; 142. a battery fast-charging device; 15. a communication module; 20. an information sensor group; 21. a height sensor; 22. an amplitude sensor; 23. an angle sensor; 24. a wind speed sensor; 25. a weight sensor; 30. a lidar sensor; 40. a central control unit; 41. a data transmission module; 42. a data processing module; 43. a motion planning module; 44. an adapter; 50. a tower crane control unit; 60. a tower crane executing mechanism; 70. a wireless communication module; 80. a power supply unit; 90. and a cradle head.

Detailed Description

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The utility model will be described in detail below with reference to the drawings in connection with embodiments.

According to one embodiment of the utility model, a unmanned control system of a tower crane comprises two intercom positioning control terminals 10, an information sensor group 20, a laser radar sensor 30, a central control unit 40, a tower crane electric control unit 50 and a tower crane executing mechanism 60, as shown in fig. 1; the two intercom positioning control terminals 10 are respectively positioned at a ground hoisting point and a target unloading point, and the two intercom positioning control terminals 10 are used for respectively acquiring real-time spatial position data of the ground hoisting point and the target unloading point in the running process of the tower crane; the information sensor group 20 is arranged on the tower crane, and the information sensor group 20 is used for acquiring the lifting height of a tower crane lifting hook, the operation amplitude of a tower crane trolley and the rotation angle data of a tower crane lifting arm in the operation process of the tower crane; the laser radar sensor 30 is arranged on the tower crane, the laser radar sensor 30 is used for emitting laser beams to scan three-dimensional modeling data of obstacles in the surrounding environment of the tower crane, the laser radar is insensitive to illumination changes and is not influenced by night scenes, and the all-weather operation can be realized; the laser radar sensor 30 has higher ranging accuracy than other sensors, has certain anti-interference capability, and can detect and generate three-dimensional patterns of environmental objects in real time; the central control unit 40 is connected with the information sensor group 20 and the laser radar sensor 30, and the central control unit 40 is used for generating three-dimensional model data of surrounding environmental barriers of the tower crane according to the three-dimensional modeling data scanned by the laser radar sensor 30, and generating a preset running path of the tower crane according to the lifting height of the lifting hook of the tower crane, the running amplitude of the trolley of the tower crane, the rotation angle data of the lifting arm of the tower crane, the real-time space position data of the ground lifting point or the target unloading point and the three-dimensional model data; the tower crane control unit 50 is connected with the central control unit 40, and the tower crane control unit 50 is used for receiving a path control instruction which can be executed by the tower crane control unit 50 and converted by the central control unit 40 according to a preset running path of the tower crane; the tower crane executing mechanism 60 is connected with the tower crane controlling unit 50, and the tower crane executing mechanism 60 executes a path control instruction according to the tower crane controlling unit 50 to drive the tower crane to operate according to a preset running path of the tower crane. The tower crane system autonomously collects the running state and surrounding environment data of the tower crane and generates a path planning to control the running of the tower crane, so that the problem of low intelligent degree of the operation of the tower crane in the prior art is solved.

Further, the unmanned control system of the tower crane further comprises a wireless communication module 70, wherein the wireless communication module 70 is connected with the central control unit 40, and the wireless communication module 70 is used for receiving and transmitting wireless communication signals; the two intercom positioning control terminals 10 are connected with the central control unit 40 through the wireless communication module 70 so that the two intercom positioning control terminals 10 communicate with the central control unit 40, and the two intercom positioning control terminals 10 communicate with each other through the wireless communication module 70.

Further, the unmanned control system for the tower crane further comprises a power supply unit 80, wherein the power supply unit 80 is connected with the information sensor group 20, the laser radar sensor 30, the central control unit 40, the tower crane control unit 50, the tower crane executing mechanism 60 and the wireless communication module 70 to supply power to the information sensor group 20, the laser radar sensor 30, the central control unit 40, the tower crane control unit 50, the tower crane executing mechanism 60 and the wireless communication module 70.

In particular, as shown in fig. 2, the information sensor group 20 includes a height sensor 21, an amplitude sensor 22, and an angle sensor 23; the height sensor 21 is arranged on a lifting mechanism gear of the tower crane balance arm, and the height sensor 21 is used for monitoring the lifting height of the tower crane lifting hook in real time; the amplitude sensor 22 is arranged on an amplitude variation mechanism gear of the tower crane boom, and the amplitude sensor 22 is used for monitoring the operation amplitude of the tower crane trolley in real time; the angle sensor 23 is arranged on the outer side of the gear ring of the tower crane rotation upper structure, and the angle sensor 23 is used for measuring the rotation angle of the tower crane boom in real time, so that the monitoring function of the lifting height of the tower crane lifting hook, the operation amplitude of the tower crane trolley and the rotation angle data of the tower crane boom in the operation process of the tower crane is realized.

Further, the information sensor group 20 further includes a wind speed sensor 24 and a weight sensor 25; the wind speed sensor 24 is arranged at the middle section of the balance arm of the tower crane, and the wind speed sensor 24 is used for monitoring the ambient wind speed of the tower crane in real time; the weight sensor 25 is arranged at the rear end of the crane boom, and the weight sensor 25 is used for monitoring the weight of the goods lifted by the crane lifting hook in real time; the wind speed sensor 24 and the weight sensor 25 are connected with the central control unit 40, and the central control unit 40 is also used for generating operation control instructions according to the ambient wind speed of the tower crane and the weight of the cargo lifted by the tower crane lifting hook; the tower crane control unit 50 controls the tower crane executing mechanism 60 to start or stop running according to the running control instruction, and the tower crane is ensured to run in a safe state by monitoring the ambient wind speed of the tower crane and the weight of the cargo lifted by the tower crane lifting hook.

In particular, as shown in fig. 3, the central control unit 40 includes a data transmission module 41, a data processing module 42, a motion planning module 43, and an adapter 44; the data transmission module 41 is connected with the information sensor group 20, the laser radar sensor 30 and the wireless communication module 70, and the data transmission module 41 is used for collecting and issuing real-time space position data of the lifting height of the tower crane lifting hook, the operation amplitude of the tower crane trolley, the rotation angle data of the tower crane lifting arm, the three-dimensional modeling data and the ground lifting point and the target unloading point; the data processing module 42 is connected with the data transmission module 41, and the data processing module 42 is used for generating three-dimensional model data according to the three-dimensional modeling data; the motion planning module 43 is connected with the data processing module 42, and the motion planning module 43 is used for generating and issuing a preset running path of the tower crane according to the lifting height of the tower crane lifting hook, the running amplitude of the tower crane trolley, the rotation angle data of the tower crane lifting arm, the real-time space position data of the ground lifting point or the destination unloading point and the three-dimensional model data, and converting the preset running path of the tower crane into a path control instruction; the adapter 44 is connected with the motion planning module 43, and the adapter 44 is used for receiving the path control instruction and converting the path control instruction into parameters of each part of the tower crane and issuing the parameters. The intelligent control system is responsible for collecting and processing various sensor data, laser radar point cloud data, positioning interphone real-time coordinates and other data, and giving control instructions to the tower crane electric control unit.

In specific implementation, as shown in fig. 4, two intercom positioning control terminals 10 include a data transceiver module 11, a control module 12, a positioning module 13 and a power module 14; the data transceiver module 11 is externally connected with an antenna, and the data transceiver module 11 is used for being connected with the central control unit 40 through the wireless communication module 70 so as to enable the two intercom positioning control terminals 10 to communicate with the central control unit 40; the control module 12 is connected with the data receiving and transmitting module 11, and the control module 12 is used for controlling the operation of the tower crane through the data receiving and transmitting module 11; the positioning module 13 is connected with the data receiving and transmitting module 11, and the positioning module 13 sends real-time space position data of the ground hoisting point or the target unloading point to the central control unit 40 through the data receiving and transmitting module 11; the power module 14 is connected with the data transceiver module 11, the control module 12 and the positioning module 13 to supply power to the data transceiver module 11, the control module 12 and the positioning module 13, and the two intercom positioning control terminals 10 can realize the functions of communication between ground operators, real-time positioning, one-key calling of the tower crane and short-distance operation of the tower crane.

Further, the two intercom positioning operation terminals 10 further include a communication module 15, and the communication module 15 is connected with the data transceiver module 11 to communicate with each other through the data transceiver module 11.

Further, the power module 14 further includes a replaceable battery pack 141 and a battery quick-charge device 142; the replaceable storage battery pack 141 is connected with the data transceiver module 11, the control module 12 and the positioning module 13 to supply power to the data transceiver module 11, the control module 12 and the positioning module 13; the battery fast charging device 142 is provided with a fast charging interface, the battery fast charging device 142 is connected with the replaceable storage battery pack 141, and the battery fast charging device 142 is used for shortening the charging time of the replaceable storage battery pack 141 and improving the charging efficiency.

In specific implementation, as shown in fig. 5, the unmanned control system of the tower crane further comprises a tripod head 90, the tripod head 90 is arranged on an arm root of a crane boom of the tower crane, the laser radar sensor 30 is arranged on the tripod head 90 and can rotate with the tower crane in 360 degrees, the influence of vibration on the stability of the laser radar sensor 30 during the operation of the tower crane is avoided, the accuracy of data is ensured, the tripod head 90 can also perform angle compensation on the angle of view of the laser radar sensor, and the radar scanning range is enlarged.

When the unmanned control system of the tower crane is particularly used, the operation of modeling, motion planning, obstacle avoidance and the like of the tower crane is realized by means of the ROS Moveit platform as shown in fig. 6. The tower crane can perform motion planning in a complex environment, and safely reach another place from one place. The laser radar sensor 30 is used to monitor the environment around the tower crane in real time and feed back to the motion planning system. The tower crane is dynamically adjusted according to the changes. The move_group node in the movit calls a KDL kinematic algorithm according to a tower crane model URDF file, a configuration SRDF file, initial state information of the tower crane, target pose information of the tower crane and environmental information, and an OMPL motion planning algorithm, an interpolation algorithm and an FCL collision monitoring algorithm generate a required motion track, wherein the track represents pose, speed, acceleration and other information on the motion track of the tower crane in the form of PVT format array. The cartesian space pose can be quickly converted into the corresponding joint angle pose by adopting a KDL forward and backward kinematics solver and an OMPL track planner. And (3) adopting an RRT algorithm as a path planning algorithm for tower crane simulation analysis, after the RRT finds a path, performing motion planning such as tower crane pose interpolation, inverse kinematics solution and the like on the path by using the Moveit, and finally generating a real-time joint motion information file executable by a tower crane controller. As shown in fig. 7 and 8, before the motion planning, the coordinate information of the positioning interphone needs to be acquired and processed, and is converted into the posture information of the tower crane as the target posture information, and then the target posture of the tower crane is set first, and then a motion planning request is sent. The planning request adapter carries out preprocessing requests on target poses, helps to correct illegal states of all mechanisms of the tower crane, and can also add speed and acceleration constraints to realize parameterized motion planning. The motion planner carries out motion planning according to the set position and direction constraint conditions, generates a track, meanwhile, the planning request adapter can add time parameters and the like to the generated track, finally generates motion track information, converts the motion track information into a tower crane path control instruction and sends the tower crane path control instruction to the tower crane control unit 50, and the tower crane control unit 50 drives the tower crane executing mechanism 60 to control the tower crane. The autonomous path planning and autonomous operation enable the tower crane to reach unmanned intelligent control level of the tower crane, the active anti-collision function provides powerful support for safe and effective hoisting of the tower crane, and the intelligent, less-humanized and unmanned concept of the tower crane construction is achieved from actual start.

When the unmanned control system of the tower crane is specifically implemented, a ground operator uses two intercom positioning control terminals 10 to remotely call the tower crane; after the tower crane receives the call instruction, the central control unit 40 locates the target position of the ground operator through the wireless communication module 70 and acquires real-time spatial position data of the ground hoisting point and the target unloading point, the information sensor group 20 collects and transmits the hoisting height of the tower crane lifting hook, the operation amplitude of the tower crane trolley and the rotation angle data of the tower crane lifting arm in the operation process of the tower crane, and the laser radar sensor 30 scans and acquires and transmits three-dimensional modeling data of the surrounding environment of the tower crane; the central control unit 40 is configured to generate three-dimensional model data of an obstacle in the surrounding environment of the tower crane according to the three-dimensional modeling data scanned by the laser radar sensor 30, and generate a preset running path of the tower crane according to the lifting height of the lifting hook of the tower crane, the running amplitude of the trolley of the tower crane, the rotation angle data of the lifting arm of the tower crane, the real-time spatial position data of the ground lifting point or the destination unloading point, and the three-dimensional model data; the tower crane control unit 50 receives a path control instruction which can be executed by the tower crane control unit 50 and converted by the central control unit 40 according to a preset running path of the tower crane; the tower crane executing mechanism 60 executes a path control instruction according to the tower crane control unit 50 to drive the tower crane to operate according to a preset running path of the tower crane. The tower crane system autonomously collects the running state and surrounding environment data of the tower crane, generates a path planning to control the running of the tower crane, realizes the crossing from 'high-altitude operation of the tower crane to ground operation' to 'remote intelligent control', solves the severe environment of high-altitude operation of a tower crane, improves the on-site hoisting precision, effectively ensures the personal safety of a driver, and solves the problem of low intelligent degree of the operation of the tower crane in the prior art.

The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims

1. An unmanned control system for a tower crane, comprising:

the two intercom positioning control terminals (10) are respectively positioned at a ground hoisting point and a target unloading point, and the two intercom positioning control terminals (10) are used for respectively acquiring real-time space position data of the ground hoisting point and the target unloading point in the operation process of the tower crane;

the information sensor group (20), the information sensor group (20) is arranged on the tower crane, and the information sensor group (20) is used for acquiring the lifting height of the tower crane lifting hook, the operation amplitude of the tower crane trolley and the rotation angle data of the tower crane lifting arm in the operation process of the tower crane;

a lidar sensor (30), the lidar sensor (30) being arranged on the tower crane, the lidar sensor (30) being adapted to emit a laser beam for scanning three-dimensional modeling data of an environmental obstacle around the tower crane;

the central control unit (40), the said central control unit (40) is connected with said information sensor group (20) and said laser radar sensor (30), the said central control unit (40) is used for producing the three-dimensional model data of the said tower crane surrounding environment obstacle according to the said three-dimensional modeling data that the said laser radar sensor (30) scans, and according to the lifting height of the said tower crane lifting hook, the operation range of the said tower crane trolley, the rotation angle data of the said tower crane lifting arm, the real-time space position data of the said ground lifting point or said destination unloading point and the said three-dimensional model data produce the preset running path of the tower crane;

the tower crane control unit (50), the tower crane control unit (50) is connected with the central control unit (40), and the tower crane control unit (50) is used for receiving a path control instruction which is converted by the central control unit (40) according to the preset running path of the tower crane and can be executed by the tower crane control unit (50);

the tower crane executing mechanism (60), the tower crane executing mechanism (60) is connected with the tower crane electric control unit (50), and the tower crane executing mechanism (60) executes the path control instruction according to the tower crane electric control unit (50) so as to drive the tower crane to operate according to the preset running path of the tower crane.

2. The unmanned control system of the tower crane of claim 1, further comprising:

a wireless communication module (70), wherein the wireless communication module (70) is connected with the central control unit (40), and the wireless communication module (70) is used for receiving and transmitting wireless communication signals;

the two intercom positioning control terminals (10) are connected with the central control unit (40) through the wireless communication module (70) so that the two intercom positioning control terminals (10) communicate with the central control unit (40), and the two intercom positioning control terminals communicate with each other through the wireless communication module (70).

3. The unmanned control system of the tower crane of claim 2, further comprising:

the power supply unit (80), power supply unit (80) with information sensor group (20) laser radar sensor (30) central control unit (40), tower machine electric control unit (50), tower machine actuating mechanism (60) and wireless communication module (70) all are connected in order to information sensor group (20) laser radar sensor (30) central control unit (40), tower machine electric control unit (50), tower machine actuating mechanism (60) and wireless communication module (70) power supply.

4. The unmanned control system for a tower crane according to claim 1, wherein the set of information sensors (20) comprises:

the height sensor (21) is arranged on a lifting mechanism gear of the tower crane balance arm, and the height sensor (21) is used for monitoring the lifting height of the tower crane lifting hook in real time;

the amplitude sensor (22) is arranged on an amplitude variation mechanism gear of the tower crane boom, and the amplitude sensor (22) is used for monitoring the operation amplitude of the tower crane trolley in real time;

the angle sensor (23), angle sensor (23) set up the tower crane gyration superstructure ring gear outside, angle sensor (23) are used for measuring in real time the gyration angle of tower crane jib loading boom.

5. The unmanned control system for a tower crane according to claim 4, wherein the information sensor group (20) comprises:

the wind speed sensor (24) is arranged at the middle section of the balance arm of the tower crane, and the wind speed sensor (24) is used for monitoring the ambient wind speed of the tower crane in real time;

the weight sensor (25) is arranged at the rear end of the crane boom of the tower crane, and the weight sensor (25) is used for monitoring the weight of goods lifted by the lifting hook of the tower crane in real time;

wherein, the wind speed sensor (24) and the weight sensor (25) are connected with the central control unit (40), and the central control unit (40) is also used for generating an operation control instruction according to the ambient wind speed of the tower crane and the weight of the goods lifted by the tower crane lifting hook; the tower crane control unit (50) controls the tower crane executing mechanism (60) to start or stop operating according to the operating control instruction.

6. The unmanned control system of a tower crane according to claim 2, wherein the central control unit (40) comprises:

the data transmission module (41) is connected with the information sensor group (20), the laser radar sensor (30) and the wireless communication module (70), and the data transmission module (41) is used for collecting and transmitting real-time space position data of the lifting height of the tower crane lifting hook, the operation amplitude of the tower crane trolley, the rotation angle data of the tower crane lifting arm, the three-dimensional modeling data and the ground lifting point and the target unloading point;

a data processing module (42), wherein the data processing module (42) is connected with the data transmission module (41), and the data processing module (42) is used for generating the three-dimensional model data according to the three-dimensional modeling data;

the motion planning module (43), the motion planning module (43) is connected with the data processing module (42), the motion planning module (43) is used for generating the preset running path of the tower crane according to the lifting height of the tower crane lifting hook, the running amplitude of the tower crane trolley, the rotation angle data of the tower crane lifting arm, the real-time space position data of the ground lifting point or the target unloading point and the three-dimensional model data, and converting the preset running path of the tower crane into the path control instruction;

the adapter (44) is connected with the motion planning module (43), and the adapter (44) is used for receiving the path control instruction and converting the path control instruction into all position parameters of the tower crane and issuing the parameters.

7. The unmanned control system for a tower crane according to claim 2, wherein the two intercom positioning control terminals (10) comprise:

the data transceiver module (11), the external antenna of the said data transceiver module (11), the said data transceiver module (11) is used for connecting with said central control unit (40) through the said wireless communication module (70) in order to make two said intercom position control terminal communicate with said central control unit (40);

the control module (12) is connected with the data receiving and transmitting module (11), and the control module (12) is used for controlling the operation of the tower crane through the data receiving and transmitting module (11);

the positioning module (13), the said positioning module (13) is connected with said data transceiver module (11), the said positioning module (13) sends the real-time space position data of the said ground hoisting point or said destination unloading point to the said central control unit (40) through the said data transceiver module (11);

the power module (14), the power module (14) with data transceiver module (11), control module (12) and positioning module (13) all are connected, in order to supply power to data transceiver module (11), control module (12) and positioning module (13).

8. The unmanned control system for a tower crane according to claim 7, wherein both of the intercom positioning control terminals (10) further comprise:

the communication module (15), communication module (15) with data transceiver module (11) are connected in order to carry out the intercommunication of two intercom location operation terminals through data transceiver module (11).

9. The unmanned control system of the tower crane according to claim 7, wherein the power module (14) further comprises:

-a replaceable battery pack (141), the replaceable battery pack (141) being connected to the data transceiver module (11), the control module (12) and the positioning module (13) for powering the data transceiver module (11), the control module (12) and the positioning module (13);

the battery fast charging device (142), battery fast charging device (142) are provided with fast charging interface, battery fast charging device (142) with removable storage battery (141) are connected, battery fast charging device (142) are used for shortening the charge time of removable storage battery (141) improves charging efficiency.

10. The unmanned control system of the tower crane of claim 1, further comprising:

the cradle head (90), the cradle head (90) is installed the arm root of tower crane jib loading boom, laser radar sensor (30) set up on the cradle head (90).