WO2024094178A1 - 塔吊控制系统 - Google Patents

塔吊控制系统 Download PDF

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Publication number
WO2024094178A1
WO2024094178A1 PCT/CN2023/129622 CN2023129622W WO2024094178A1 WO 2024094178 A1 WO2024094178 A1 WO 2024094178A1 CN 2023129622 W CN2023129622 W CN 2023129622W WO 2024094178 A1 WO2024094178 A1 WO 2024094178A1
Authority
WO
WIPO (PCT)
Prior art keywords
tower crane
handheld terminal
target
interaction module
hoisting
Prior art date
Application number
PCT/CN2023/129622
Other languages
English (en)
French (fr)
Inventor
郭丽萍
吕志勇
Original Assignee
北京东土科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京东土科技股份有限公司 filed Critical 北京东土科技股份有限公司
Publication of WO2024094178A1 publication Critical patent/WO2024094178A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
    • A61B5/024—Detecting, measuring or recording pulse rate or heart rate
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/06—Arrangements or use of warning devices
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present application relates to the field of intelligent control technology, for example, to a tower crane control system.
  • Tower cranes are important lifting tools in the construction field.
  • the driver in the tower crane cockpit (referred to as the tower crane driver) controls the tower crane to complete the lifting work of houses or bridges. This not only has strict requirements on the driving and operating skills of the tower crane driver, but also the work efficiency is usually low.
  • some manufacturers in the industry have realized remote operation, which transplants the cab control panel at the top of the tower crane to the remote end through communication means, which can be realized through a remote cockpit or a handheld control panel.
  • both the remote cockpit and the handheld control panel have strict requirements on the experience and technology of the TAS operator.
  • the handheld control panel requires the TAS operator to master the ground environment in advance, while the remote cockpit requires the construction site to provide a dedicated working area for the TAS operator to operate. Therefore, the remote operation method cannot meet the actual operation needs of users.
  • the present application provides a tower crane control system to achieve intelligent control of the tower crane.
  • a tower crane control system comprising: a handheld terminal and a tower crane controller;
  • the handheld terminal is configured to send a hoisting requirement to the tower crane controller with which a binding relationship is established in advance, wherein the hoisting requirement includes a hoisting target point;
  • the tower crane controller is configured to control the hoisting process of the associated target tower crane in the first area according to the hoisting demand, and the hoisting target point is a boundary point of the first area;
  • the handheld terminal is further configured to control the hoisting process of the target tower crane in the second area when it is determined that the target tower crane runs to the second area, and the hoisting target point is a boundary point of the second area.
  • FIG1 is a schematic diagram of the structure of a tower crane control system provided in Example 1 of the present application.
  • FIG2 is a schematic diagram of an interaction of channel binding provided in Example 1 of the present application.
  • FIG3 is a schematic diagram of an operation interface of a handheld terminal provided in Embodiment 1 of the present application.
  • FIG4 is an interactive schematic diagram of a tower crane control process provided in Example 1 of the present application.
  • FIG5 is a schematic diagram of the division of a hoisting area provided in Example 1 of the present application.
  • FIG. 6 is an interactive schematic diagram of connectivity status detection provided in Embodiment 2 of the present application.
  • FIG1 is a schematic diagram of the structure of a tower crane control system provided in Embodiment 1 of the present application. This embodiment is applicable to the situation of controlling a tower crane. As shown in FIG1 , the system includes: a handheld terminal 11 and a tower crane controller 12 .
  • the handheld terminal 11 is configured to send a lifting demand to the tower crane controller 12 with which a binding relationship has been established in advance, and the lifting demand includes a lifting target point;
  • the tower crane controller 12 is configured to control the lifting process of the associated target tower crane in the first area according to the lifting demand, and the lifting target point is the boundary point of the first area;
  • the handheld terminal 11 is also configured to control the lifting process of the target tower crane in the second area when it is determined that the target tower crane is running to the second area, and the lifting target point is the boundary point of the second area.
  • the lifting target point in this embodiment can be the lower boundary point of the first area, and also the upper boundary point of the second area.
  • the lifting target point can be a position or area at a certain height from the position where the lifting object is located or the position where the handheld terminal lifting user is located, and can be a position or area at a certain height from the position where the lifting object is dropped or the position where the handheld terminal is dropped.
  • the lifting target point in this embodiment can be a demarcation point corresponding to the tower crane control authority of the handheld terminal.
  • the tower crane controller plans a path before reaching the lifting target point and automatically controls the operation of the hook of the target tower crane according to the planned path. After marking, the hook operation of the target tower crane can be directly controlled at an ant speed through the handheld terminal.
  • the handheld terminal comprises a startup authentication module; the handheld terminal is configured to receive an access code through the startup authentication module and to start according to the access code.
  • the user's access code can be received by starting the authentication module.
  • the corresponding standard access code can be pre-configured for each handheld terminal. The handheld terminal will only be turned on if the access code entered by the user is consistent with the standard access code of the handheld terminal being accessed. If the access code entered by the user is consistent with the standard access code of the handheld terminal being accessed, the handheld terminal is in a closed state.
  • the startup authentication module in this embodiment can also be a key-operated switch. The handheld terminal can only be started if the user holds the key corresponding to the handheld terminal being accessed and uses the corresponding key to trigger the key-operated switch. From the above content, it can be seen that the startup authentication module is essentially to authenticate the identity of the accessing user, thereby avoiding the risk of hoisting work caused by the arbitrary operation of the tower crane controller by illegal users.
  • the handheld terminal is also configured to send control instructions to the bound tower crane controller through the target channel in an activated state, wherein different channels correspond to different tower crane controllers.
  • the handheld terminal is also configured to establish a binding relationship with the tower crane controller and activate the target channel through the user's triggering operation on the target channel human-computer interaction module on the operation interface of the handheld terminal, wherein the operation interface of the handheld terminal includes at least one channel human-computer interaction module, and different channel human-computer interaction modules correspond to different tower crane controllers.
  • the operation interface of the handheld terminal also includes indication information associated with at least one channel human-computer interaction module; the handheld terminal is also configured to update the indication information associated with the target channel human-computer interaction module to a first state when it is determined that the target channel associated with the target channel human-computer interaction module is in an activated state, wherein the first state is used to indicate that the target channel is in an activated state.
  • FIG. 2 it is an interactive schematic diagram of channel binding in this embodiment.
  • the tower crane controller receives the binding instruction from the background maintenance personnel, a binding request will be generated. Therefore, the handheld terminal will receive the binding request sent by the tower crane controller, and the binding request includes the tower crane controller identifier and the target handheld terminal identifier, wherein the target handheld terminal identifier is the identifier of the handheld terminal to be bound that is pre-entered in the tower crane controller by the background maintenance personnel.
  • the handheld terminal will obtain the target channel identifier according to the binding request, and perform channel binding with the tower crane controller according to the target channel identifier to establish a binding relationship. Therefore, in this embodiment, the handheld terminal and the tower crane controller establish a binding relationship through a channel, and different channels correspond to different tower crane controllers.
  • FIG. 3 is a schematic diagram of the operation interface of the handheld terminal in this embodiment.
  • the handheld terminal verifies the target handheld terminal identifier in the binding request. When it is determined that the target handheld terminal identifier is consistent with its own handheld terminal identifier and the verification is passed, a verification pass prompt is generated, and the verification pass prompt is displayed to the user in the form of voice.
  • the handheld terminal includes multiple channel buttons. The user can select the channel by triggering the combination key composed of the target channel button and the control request button according to the prompt. After the handheld terminal obtains the target channel identifier according to the user's operation, it will send the target channel identifier determined by the user side to the tower crane controller that matches the tower crane controller identifier.
  • a handheld terminal can be bound to multiple tower crane controllers at the same time.
  • the user can trigger the target channel human-computer interaction module on the operation interface of the handheld terminal.
  • the interaction module in this embodiment can be in the form of a button.
  • the form of the interaction module is not limited in this embodiment.
  • the target channel human-computer interaction module can be a target channel button. Since different channel buttons correspond to different tower crane controllers, the handheld terminal generates a channel activation request according to the user's triggering operation, and performs channel activation interaction with the tower crane controller that matches the target channel button according to the channel activation request, thereby activating the target channel.
  • the instructions generated by the user triggering the operation button of the handheld terminal can be transmitted to the target tower crane controller through the activated target channel.
  • the target channel For example, if the user wants to control the tower crane associated with tower crane control 1, since the channel 1 button corresponds to tower crane controller 1, this correspondence has been determined during the previous binding. Since it is the channel selected on the user side, the user knows the correspondence between the human-computer interaction module and the tower crane controller. Therefore, the user will press the channel 1 button, and the terminal will generate an activation request for channel 1 based on the user triggering the channel 1 button.
  • the channel activation request includes the handheld terminal identifier and the target tower crane controller identifier.
  • the handheld terminal of this embodiment also includes indication information associated with the channel button, such as an indicator light, and the state of the channel is indicated by turning on the indicator light.
  • indication information associated with the channel button such as an indicator light
  • the indicator light associated with the target channel button can also be switched to a flashing state.
  • the indication information in this embodiment can also be sound, and different states of the target channel are indicated by sounds of different contents, so the form of the indication information is not limited in this embodiment.
  • the activation states of multiple channels are identified by using indication information, so as to be more intuitively displayed to the user, so as to inform the user which channel is currently in the activated state, and the working state of the tower crane controller bound to the activated channel.
  • the handheld terminal also includes a request interaction module, wherein the request interaction module includes a hook application interaction module and a drop application interaction module; the handheld terminal is also configured to receive a request from the user for the hook application interaction module or The trigger operation of the lifting application interaction module starts the positioning module to automatically locate and obtain the lifting target point; obtains the identifier of the tower crane controller with a pre-established binding relationship, as well as its own handheld terminal identifier, and generates a lifting requirement based on the lifting target point, the tower crane controller identifier and the handheld terminal identifier.
  • the request interaction module includes a hook application interaction module and a drop application interaction module
  • the handheld terminal is also configured to receive a request from the user for the hook application interaction module or
  • the trigger operation of the lifting application interaction module starts the positioning module to automatically locate and obtain the lifting target point; obtains the identifier of the tower crane controller with a pre-established binding relationship, as well as its own handheld terminal identifier, and generates a lifting requirement based on the lifting target point, the tower crane
  • the tower crane controller is configured to control the lifting process of the associated target tower crane in the first area according to the lifting requirements in the following manner: determine a planned path according to the lifting requirements, and control the target tower crane to reach the lifting target point in the first area according to the planned path.
  • the handheld terminal is also configured to send an authority acquisition request to the tower crane controller; the tower crane controller is also configured to generate an authority transfer instruction based on the authority acquisition request, and send the authority transfer instruction to the handheld terminal; the handheld terminal is configured to control the lifting process of the target tower crane in the second area in the following manner: obtain control over the target tower crane according to the authority transfer instruction, and send operation instructions to the target tower crane in the second area based on the control right, so that the target tower crane performs the lifting work with the lifting target point as the starting point according to the operation instruction.
  • the operation interface of the handheld terminal also includes a control request interaction module; the handheld terminal is also configured to generate a permission acquisition request according to the user's triggering operation on the control request interaction module, and send the permission acquisition request to the tower crane controller.
  • the operation interface of the handheld terminal also includes a control operation interaction module; the handheld terminal is also configured to generate a key code according to the user's trigger operation on the control operation interaction module, and send the key code as an operation instruction to the target tower crane controller using wireless communication; the target tower crane controller is also configured to control the lifting work of the target tower crane based on the operation instruction with the lifting target point as the starting point.
  • FIG4 it is an interactive schematic diagram of the tower crane control process in this embodiment.
  • the interactive module in this embodiment can be in the form of a button.
  • the form of the interactive module is not limited in this embodiment.
  • the operation interface of the handheld terminal includes lifting buttons such as a hook application button and a drop application button. When the user presses the lifting button, since the handheld terminal has an automatic positioning function, it will trigger the positioning module to automatically locate and obtain the lifting target point.
  • the handheld terminal when the user presses the hook application button and needs to lift the nearby lifting objects, the handheld terminal will obtain the tower crane controller identifier of the target tower crane controller bound to the target channel according to the binding relationship, as well as its own handheld terminal identifier, so as to generate a lifting demand according to the lifting target point, the target tower crane controller identifier and the handheld terminal identifier, and send the lifting demand to the tower crane controller that has established a communication connection in advance.
  • it will retransmit multiple times to ensure that the tower crane controller can accurately receive the message sent by the handheld terminal.
  • the operation area of the hook before the handheld terminal obtains the control right is called the first area
  • the area from the operation position point A of the hook when the control right is obtained to the location of the hoisted object, that is, the hoisting target point is called the second area
  • point A is used as the lower boundary point of the first area
  • point A of the operation position of the hook when the control right is obtained is used as the second area.
  • the upper boundary point of the domain is shown in Figure 5, which is a schematic diagram of the division of the hoisting area in this embodiment.
  • the tower crane controller determines the planned path according to the hoisting target point in the hoisting demand, and controls the target tower crane to run to the hoisting target point in the first area according to the planned path.
  • the user can press the control request button on the handheld terminal to send a permission acquisition request to the tower crane controller, so that the user can trigger the operation button on the handheld terminal to achieve fine-tuning of the lifting work of the target tower crane in the second area.
  • a lower key code is generated according to the user's triggering operation of the lower key, and the lower key code is used as a lower operation instruction, and the lower operation instruction is sent to the tower crane controller by wireless communication, and the tower crane controller controls the target tower crane to move downward according to the acquired lower operation instruction.
  • the user can manually operate the lifting object to hook the target tower crane to complete the lifting operation of the lifting object. After the lifting object is hooked to the target tower crane, the user can continue to control the target tower crane to rise in the second area by manipulating the handheld terminal, and finally guide the target tower crane out of the second area through fine-tuning.
  • the handheld terminal When the handheld terminal sends an operation instruction to the tower crane controller, it will also send the handheld terminal identification and the target tower crane controller identification bound to the target channel to the tower crane controller.
  • the purpose of sending the handheld terminal identification is to inform the tower crane controller who sent the current permission acquisition request, and the purpose of sending the target tower crane controller identification is to facilitate the tower crane controller to verify whether the permission acquisition request is sent to itself.
  • the handheld terminal sends a message to the tower crane controller, it will send its own identification and the target tower crane controller identification together, so that the tower crane controller can verify and ensure that the message is accurately sent to the target party; in addition, when it is determined that no response to the sent message is received from the tower crane controller, it will retransmit a specified number of times to ensure that the tower crane controller can accurately receive the message sent by the handheld terminal.
  • the operation interface of the handheld terminal also includes a control end interaction module; the handheld terminal is also configured to generate a permission abandonment request based on the user's trigger operation on the control end interaction module, and send the permission abandonment request to the tower crane controller; the tower crane controller is also configured to take back the control of the target tower crane based on the permission abandonment request.
  • the operation interface of the handheld terminal also includes an emergency stop operation interaction module; the handheld terminal is also configured to generate an emergency stop command based on the user's trigger operation on the emergency stop interaction module button, and send the emergency stop command to the tower crane controller; the tower crane controller is also configured to terminate the lifting work of the target tower crane according to the emergency stop command.
  • the user can trigger the control end button on the operation interface to regain control of the target crane.
  • the handheld terminal controls the target crane to perform lifting in the second area, if an obstacle is found in front of it and there is a risk of collision, The user can press the emergency stop operation button, and the handheld terminal generates an emergency stop command based on the user's triggering operation of the emergency stop operation button, and sends the emergency stop command to the tower crane controller.
  • the tower crane controller terminates the hoisting work of the target tower crane according to the emergency stop command, thereby ensuring the safety of the hoisting work.
  • the tower crane controller is also configured to generate warning information when there is an obstacle avoidance risk during the process of controlling the target tower crane to move toward the lifting target point according to the planned path, and send the warning information to the warning module of the handheld terminal using the long-range radio (LoRa) communication mode; the handheld terminal is also configured to issue an alarm in a specified manner according to the warning information through the warning module, wherein the specified manner includes voice or light.
  • LoRa long-range radio
  • the tower crane controller monitors an emergency situation in front of the planned path, such as an unknown obstacle in front, and the tower crane controller cannot effectively avoid obstacles on the tower crane, it will generate an early warning message and send the generated early warning message to the handheld terminal using the LoRa communication mode, and the handheld terminal will alarm the early warning message in the form of voice or light.
  • the operation interface of the handheld terminal shown in Figure 3 includes an indicator light and a microphone for sound and light early warning. The handheld terminal can analyze the danger level of the early warning information and use different alarm methods according to different danger levels.
  • the early warning module when it is determined that the danger level is low, the early warning module will control the indicator light to flash and control the microphone to alarm at a low frequency; when the danger level is high, the early warning module will control the indicator light to be always on and control the microphone to alarm at a high frequency.
  • This embodiment is only an example, and does not limit the alarm method used.
  • the user terminal receives the alarm signal, it can take corresponding measures in time to avoid the lifting risk as much as possible.
  • the handheld terminal also includes an intercom interaction module; the handheld terminal is also configured to start the intercom interaction module according to a user's triggering operation on the intercom interaction module, and receive a first voice message input by a user belonging to the terminal through the intercom interaction module, and use the 433 digital communication mode to send the first voice message to a designated terminal; the handheld terminal is also configured to receive a second voice message sent by the designated terminal using the 433 digital communication mode, and play the second voice message.
  • the handheld terminal is also configured to start the intercom interaction module according to a user's triggering operation on the intercom interaction module, and receive a first voice message input by a user belonging to the terminal through the intercom interaction module, and use the 433 digital communication mode to send the first voice message to a designated terminal; the handheld terminal is also configured to receive a second voice message sent by the designated terminal using the 433 digital communication mode, and play the second voice message.
  • the communication between the tower crane commanders at the construction site includes: direct communication and collaborative work between signal workers, signal workers and tower operators, and signal workers and other commanders through the intercom function.
  • the intercom interaction module will be triggered to start.
  • the intercom interaction module in the started state can receive the user's first voice information and send the first voice information to the designated terminal using the 433 digital communication mode.
  • the handheld terminal can also receive the second voice information sent by the designated terminal using the 433 communication mode through the intercom interaction module, and play the second voice information.
  • the designated terminal here refers to a terminal in the same working frequency band as the user's handheld terminal, and the number of designated terminals is not limited in this embodiment, that is, the user can communicate with multiple tower crane commanders at the same time through the intercom interaction module to improve the efficiency of the hoisting work.
  • the handheld terminal sends hoisting requirements to the tower crane controller, so that the tower crane controller and the handheld terminal can control the target tower crane in different areas respectively to complete the hoisting task, thereby improving the operating efficiency of the tower crane and meeting the actual operating needs of the user.
  • FIG6 is an interactive schematic diagram of a connectivity status detection provided in Embodiment 2 of the present application. This embodiment is based on the above embodiment and detects the connectivity status between the handheld terminal and the tower crane controller through a heartbeat mechanism.
  • the handheld terminal is also configured to periodically send heartbeat messages to the tower crane controller through the target channel, wherein the heartbeat message contains a handheld terminal identifier; the tower crane controller is also configured to generate a response message based on the heartbeat message when a heartbeat message is received within a specified period, and feed the response message back to the handheld terminal.
  • the tower crane controller is also configured to generate a response message based on the heartbeat message when a heartbeat message is received within a specified period, and feed the response message back to the handheld terminal.
  • the handheld terminal when the handheld terminal works normally, it will send a heartbeat message to the tower crane controller within a specified period, and at the same time as sending the heartbeat message, it will also send the handheld terminal identifier and the target tower crane controller identifier to the tower crane controller.
  • the tower crane controller determines that it has received the heartbeat message, it can determine that the communication status of the channel bound to the finger terminal is good, and it will also generate a response message based on the heartbeat message, and feed the response message back to the handheld terminal. Since the handheld terminal can be bound to multiple tower crane controllers, the target tower crane controller identifier is included in the response message to inform which tower crane controller the current response message is fed back from.
  • a handheld terminal when a handheld terminal fails, it stops sending heartbeat messages to the tower crane controller.
  • the tower crane controller determines that it has not received the heartbeat message within the specified time range, it can be determined that the communication connection with the handheld terminal is abnormal.
  • the control right of the target tower crane will be withdrawn, and the control right control mode can be switched to tower crane control.
  • This implementation does not limit the method of transferring the control authority of the target tower crane when a heartbeat message abnormality occurs. As long as the normal operation of the target tower crane can be guaranteed, it is within the protection scope of this application and is not limited in this implementation.
  • a lifting demand is sent to a tower crane controller through a handheld terminal, so that the tower crane controller and the handheld terminal can respectively control the target tower crane in different areas to complete the lifting task, thereby improving the operation efficiency of the tower crane and meeting the actual operation needs of the user.
  • the connection status of the finger terminal and the tower crane controller is detected in real time through the heartbeat mechanism of the communication status detection module, and when the terminal is connected, the control right of the tower crane is transferred, thereby ensuring the normal execution of the lifting work.

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Abstract

塔吊控制系统，包括：手持终端(11)和塔吊控制器(12)；手持终端(11)，设置为向预先建立绑定关系的塔吊控制器(12)发送吊装需求，吊装需求包括吊装目标点；塔吊控制器(12)，设置为根据吊装需求控制所关联的目标塔吊在第一区域的吊装过程，吊装目标点为第一区域的边界点；手持终端(11)，还设置为在确定目标塔吊运行到第二区域时，控制目标塔吊在第二区域的吊装过程，吊装目标点为第二区域的边界点。

Description

塔吊控制系统
本申请要求在2022年11月04日提交中国专利局、申请号为202211379614.6的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及智能控制技术领域，例如涉及塔吊控制系统。
背景技术
塔吊是建筑领域的重要吊装工具，位于塔吊驾驶舱的司机(简称塔司)通过操控塔吊，以完成房屋或桥梁的吊装工作，这不仅对塔司的驾驶操作技能有严格的要求，而且工作效率通常较低。针对上述问题行业内部分厂家已经实现远程操作，以将塔吊顶端的驾驶室操纵台通过通信手段移植远端，可以通过远程驾仓或手持操控台的方式实现。
但不论是远程驾仓还是手持操控台的方式，都对塔司的经验技术有严格的要求，特别是手持操控台需要塔司提前掌握地面环境，而远程驾仓需要工地提供专用作业用地供塔司操作，因此远程操作方式并不能满足用户的实际作业需求。
发明内容
本申请提供了塔吊控制系统，以实现对塔吊的智能控制。
根据本申请的一方面，提供了一种塔吊控制系统，包括：手持终端和塔吊控制器；
所述手持终端，设置为向预先建立绑定关系的所述塔吊控制器发送吊装需求，所述吊装需求包括吊装目标点；
所述塔吊控制器，设置为根据所述吊装需求控制所关联的目标塔吊在第一区域的吊装过程，所述吊装目标点为所述第一区域的边界点；
所述手持终端，还设置为在确定所述目标塔吊运行到第二区域时，控制所述目标塔吊在所述第二区域的吊装过程，所述吊装目标点为所述第二区域的边界点。
附图说明
图1是本申请实施例一提供的一种塔吊控制系统的结构示意图；
图2是本申请实施例一提供的一种通道绑定的交互示意图；
图3是本申请实施例一提供的一种手持终端的操作界面示意图；
图4是本申请实施例一提供的一种塔吊控制过程的交互示意图；
图5是本申请实施例一提供的一种吊装区域的划分示意图；
图6是本申请实施例二提供的一种连通状态检测的交互示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，所描述的实施例仅仅是本申请一部分的实施例。
本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于列出的那些步骤或单元，而是可包括没有列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
实施例一
图1是本申请实施例一提供的一种塔吊控制系统的结构示意图，本实施例可适用于对塔吊进行控制的情况，如图1所示，该系统包括：手持终端11和塔吊控制器12。
手持终端11，设置为向预先建立绑定关系的塔吊控制器12发送吊装需求，吊装需求包括吊装目标点；塔吊控制器12，设置为根据吊装需求控制所关联的目标塔吊在第一区域的吊装过程，吊装目标点为第一区域的边界点；手持终端11，还设置为在确定目标塔吊运行到第二区域时，控制目标塔吊在第二区域的吊装过程，吊装目标点为第二区域的边界点。并且本实施方式中的吊装目标点可以是第一区域的下边界点，同时也为第二区域的上边界点。吊装目标点可以是距离吊装物品所在位置或手持终端起吊用户所在位置处一定高度的一个位置或区域，可以是距离吊装物品落吊位置或手持终端落吊用户所在位置处一定高度的一个位置或区域。
本实施方式中的吊装目标点可以是手持终端对应的具有塔吊控制权限的分界点，当塔吊的吊钩向下移动过程中，在到达吊装目标点之前由塔吊控制器规划路径并根据规划路径对目标塔吊的吊钩运行进行自动控制，而在通过吊装目 标点之后，可以通过手持终端直接对目标塔吊的吊钩运行进行蚁速控制。
手持终端包括启动认证模块；手持终端，设置为通过启动认证模块接收访问码，并根据访问码进行启动。
为了避免非法用户擅自使用手持终端，可以通过启动认证模块接收用户的访问码，针对每个手持终端可以预先配置对应的标准访问码，只有用户所输入的访问码与所访问手持终端的标准访问码一致，手持终端才会开启，如果用户所输入的访问码与所访问手持终端的标准访问码一致，则手持终端处于关闭状态。本实施方式中的启动认证模块还可以是钥匙操作开关，只有用户持有与所访问手持终端所对应的钥匙，并采用对应的钥匙触发钥匙操作开关，手持终端才能进行启动。从上述内容可以得知，启动认证模块实质是对访问用户的身份进行认证，从而避免由于非法用户对塔吊控制器的随意操作，而带来的吊装工作风险。
手持终端，还设置为通过处于激活状态下的目标通道向绑定的塔吊控制器发送控制指令，其中，不同通道分别对应不同的塔吊控制器。
手持终端，还设置为通过用户对手持终端的操作界面上的目标通道人机交互模块的触发操作与塔吊控制器建立绑定关系并激活目标通道，其中，手持终端的操作界面上包括至少一个通道人机交互模块，不同通道人机交互模块分别对应不同的塔吊控制器。
手持终端的操作界面上还包括与至少一个通道人机交互模块所关联的指示信息；手持终端，还设置为当确定与目标通道人机交互模块所关联的目标通道处于激活状态时，将与目标通道人机交互模块所关联的指示信息更新为第一状态，其中，第一状态用于指示目标通道处于激活状态。
本实施方式中的手持终端和塔吊控制器在不同区域分别对目标塔吊进行吊装控制之前，需要预先与塔吊控制器建立绑定关系，并且是通过通道的绑定建立两者之间的绑定关系。如图2所示，为本实施方式中通道绑定的交互示意图，当塔吊控制器接收到后台维护人员的绑定指令时会生成绑定请求，因此手持终端会接收塔吊控制器所发送的绑定请求，而在绑定请求中包含塔吊控制器标识和目标手持终端标识，其中，目标手持终端标识就是后台维护人员预先在塔吊控制器中所输入的待建立绑定关系的手持终端的标识。手持终端会根据绑定请求获取目标通道标识，根据目标通道标识与塔吊控制器进行通道绑定以建立绑定关系，因此本实施方式中手持终端和塔吊控制器是通过通道建立绑定关系的，而不同通道分别对应不同的塔吊控制器。
手持终端在根据绑定请求获取目标通道标识时，是根据用户对手持终端的 操作界面上的操作所获取的，如图3所示，为本实施方式中的手持终端的操作界面示意图，手持终端对绑定请求中的目标手持终端标识进行校验，当确定目标手持终端标识与自身手持终端标识一致确定校验通过，则生成校验通过提示，并将校验通过提示以语音的形式向用户进行展示。在手持终端上包含多个通道按键，用户可以根据提示通过触发目标通道按键与控制请求按键所构成的组合键来是实现通道的选择，而手持终端在根据用户的操作获取到目标通道标识之后，则会将用户侧所确定的目标通道标识发送给与塔吊控制器标识所匹配的塔吊控制器。
本实施方式中一个手持终端可以同时绑定多个塔吊控制器，为了保证与指定的塔吊控制器进行通信，并通过指定的塔吊控制器控制目标塔吊的吊装工作，用户可以通过触发手持终端的操作界面上的目标通道人机交互模块，而本实施方式中的交互模块可以是按键的形式，本实施方式中并不限定交互模块的形式，例如，目标通道人机交互模块可以是目标通道按键，由于不同通道按键分别对应不同的塔吊控制器，因此手持终端根据用户的触发操作生成通道激活请求，并根据通道激活请求与目标通道按键匹配的塔吊控制器进行通道激活交互，从而将目标通道进行激活。只有在目标通道激活的情况，用户通过触发手持终端的操作按键所生成的指令，才能通过激活的目标通道传输给目标塔吊控制器。例如，如果用户想要控制塔吊控制1所关联的塔吊，由于通道1按键对应塔吊控制器1，这种对应关系在之前进行绑定时就已经确定，由于是用户侧选定的通道，因此用户是已知人机交互模块与塔吊控制器的对应关系的，因此用户会按压通道1按键，而终端则会根据用户通过触发通道1按键生成针对通道1的激活请求，而在通道激活请求中包含手持终端标识以及目标塔吊控制器标识。
在本实施方式的手持终端中还包括与通道按键所关联的指示信息，例如指示灯，并通过指示灯的开启标示通道的状态。当确定与目标通道按键所关联的目标通道处于激活状态时，通过将指示灯切换为常亮状态，可以便于用户及时直观的获取手持终端当前控制的是哪个塔吊控制器。另外，当获取到用户通过触发目标通道按键所生成的通道激活请求时，还可以将目标通道按键所关联的指示灯切换为闪烁状态。当然，本实施方式中的指示信息还可以是声音，并通过不同内容的声音来指示目标通道的不同状态，因此本实施方式中并不限定指示信息的形式。本实施方式中通过采用指示信息来标识多个通道的激活状态，从而更加直观的向用户进行展示，以通知用户当前处于激活状态的是哪个通道，以及与激活通道所绑定的塔吊控制器的工作状态。
手持终端还包括请求交互模块，其中，请求交互模块包括起勾申请交互模块和落吊申请交互模块；手持终端，还设置为根据用户对起勾申请交互模块或 落吊申请交互模块的触发操作启动定位模块进行自动定位以获取吊装目标点；获取预先建立绑定关系的塔吊控制器的标识，以及自身的手持终端标识，并根据吊装目标点、塔吊控制器的标识和手持终端标识生成吊装需求。
塔吊控制器，设置为通过如下方式根据吊装需求控制所关联的目标塔吊在第一区域的吊装过程：根据吊装需求确定规划路径，并控制目标塔吊在第一区域内按照规划路径到达吊装目标点。
手持终端，还设置为向塔吊控制器发送权限获取请求；塔吊控制器，还设置为根据权限获取请求生成权限转移指令，并将权限转移指令发送给手持终端；手持终端，设置为通过如下方式控制目标塔吊在第二区域的吊装过程：根据权限转移指令获取针对目标塔吊的控制权，并基于控制权在第二区域内向目标塔吊发送操作指令，以使目标塔吊根据操作指令以吊装目标点为起点执行吊装工作。
手持终端的操作界面上还包括控制请求交互模块；手持终端，还设置为根据用户对控制请求交互模块的触发操作生成权限获取请求，并将权限获取请求发送给塔吊控制器。
手持终端的操作界面上还包括控制操作交互模块；手持终端，还设置为根据用户对控制操作交互模块的触发操作生成按键编码，并将按键编码作为操作指令采用无线通信方式发送给目标塔吊控制器；目标塔吊控制器，还设置为根据操作指令以吊装目标点为起点对目标塔吊的吊装工作进行控制。
如图4所示，为本实施方式中的塔吊控制过程的交互示意图，在手持终端完成通道绑定，并经过通道选择与塔吊控制器建立连接之后，可以参照图4实现塔吊的控制过程。而本实施方式中的交互模块可以是按键的形式，本实施方式中并不限定交互模块的形式，如图3所示，在手持终端的操作界面上包括起勾申请按键和落吊申请按键等吊装按键，当用户按压吊装按键时，由于手持终端具有自动定位功能，因此会触发定位模块进行自动定位以获取吊装目标点，例如当用户按压了起勾申请按键，并需要将附近的吊装物品进行吊装时，手持终端会根据绑定关系获取目标通道所绑定的目标塔吊控制器的塔吊控制器标识，以及自身的手持终端标识，从而根据吊装目标点、目标塔吊控制器标识以及手持终端标识生成吊装需求，并将吊装需求发送给预先建立通信连接的塔吊控制器，并且在确定没有收到塔吊控制器所反馈的响应信息时，会进行多次重传，以保证塔吊控制器能够准确接收到手持终端所发送的消息。并将手持终端获取到控制权之前吊钩的运行区域称为第一区域，将获取到控制权时吊钩的运行位置A点到吊装物品所在位置即吊装目标点的区域称为第二区域，并将A点作为第一区域的下边界点，同时将获取到控制权时吊钩的运行位置A点作为第二区 域的上边界点，如图5所示，为本实施方式的吊装区域的划分示意图。塔吊控制器根据吊装需求中的吊装目标点确定出规划路径，并控制目标塔吊在第一区域内按照规划路径向吊装目标点运行。
当塔吊控制器在第一区域控制目标塔吊运行过程中，在吊钩距离吊装目标点还有一定距离时，此时为了精准的将吊装物品挂载到目标塔吊上，用户可以按压手持终端上的控制请求按键，以向塔吊控制器发送权限获取请求，从而实现用户通过对手持终端上的操作按键的触发，实现在第二区域内对目标塔吊吊装工作的微调。例如，根据用户对下按键的触发操作生成下按键编码，并将下按键编码作为下操作指令，将下操作指令采用无线通信方式发送给塔吊控制器，而塔吊控制器则根据所获取的下操作指令，控制目标塔吊向下移动。当目标塔吊运行到吊装物品所在位置处时，用户便可以手动操作将吊装物品挂钩到目标塔吊上，以完成吊装物品的起勾操作。当将吊装物品挂钩到目标塔吊上之后，用户可以继续通过操控手持终端控制目标塔吊在第二区域内进行上升，最终通过微调实现将目标塔吊引导出第二区域。
手持终端在向塔吊控制器发送操作指令时，还会将手持终端标识以及与目标通道所绑定的目标塔吊控制器标识发送给塔吊控制器，发送手持终端标识的作用是告知塔吊控制器当前的权限获取请求是谁发送的，而发送目标塔吊控制器标识的作用是便于塔吊控制器进行校验，以确定该权限获取请求是否是发送给自己的。由此可以得知，手持终端每次向塔吊控制器发送消息时都会将自身的标识和目标塔吊控制器标识一起发送，以使塔吊控制器进行验证，保证消息准确发送给目标方；另外，在确定没有接收到塔吊控制器针对所发送消息的响应时都会重传指定次数，以保证塔吊控制器能够准确接收到手持终端所发送的消息。
手持终端的操作界面上还包括控制结束交互模块；手持终端，还设置为根据用户对控制结束交互模块的触发操作生成权限放弃请求，并将权限放弃请求发送给塔吊控制器；塔吊控制器，还设置为根据权限放弃请求将目标塔吊的控制权进行收回。
手持终端的操作界面上还包括急停操作交互模块；手持终端，还设置为根据用户对急停交互模块按键的触发操作生成急停指令，并将急停指令发送给塔吊控制器；塔吊控制器，还设置为根据急停指令终止目标塔吊的吊装工作。
当目标塔吊运行出第二区域，或者在第二区域运行过程中由于临时状况用户需要放弃对目标塔吊的控制时，用户可以触发操作界面上的控制结束按键，以实现将目标塔吊的控制权进行收回。另外，当手持终端控制目标塔吊在第二区域执行吊装过程中，如果发现行进前方出现了障碍物，并存在碰撞风险时， 用户可以按压急停操作按键，手持终端则根据用户对急停操作按键的触发操作生成急停指令，并将急停指令发送给塔吊控制器，而塔吊控制器则根据急停指令终止目标塔吊的吊装工作，从而保证吊装工作的安全性。
塔吊控制器还设置为在控制目标塔吊按照规划路径向吊装目标点运行过程中，当存在避障风险时生成预警信息，并将预警信息采用远距离无线电(Long Range Radio，LoRa)通信模式发送给手持终端的预警模块；手持终端，还设置为通过预警模块根据预警信息按照指定方式进行报警，其中，指定方式包括语音或灯光。
塔吊控制器在控制塔吊按照规划路径运行的过程中，如果监测到规划路径前方出现了紧急情况，如前方出现不明障碍物，而塔吊控制器又无法对塔吊进行有效避障控制的情况下则会生成预警信息，并采用LoRa通信模式将所生成的预警信息发送给手持终端，而手持终端则会将预警信息按照语音或灯光的方式进行报警，如图3所示的手持终端的操作界面上包含进行声光预警的指示灯和麦克风。手持终端可以对预警信息的危险等级进行分析，并根据不同的危险等级采用不同的报警方式，例如，当确定危险等级较低时，则预警模块会控制指示灯进行闪烁，同时控制麦克风进行低音频报警；而当危险等级较高时，则预警模块会控制指示灯进行常亮，同时控制麦克风进行高音频报警。本实施方式中仅是举例说明，而并不对所采用的报警方式进行限定。当用户端接收到报警信号后可以及时采取对应的措施，以尽量对吊装风险进行规避。
手持终端还包括对讲交互模块；手持终端，还设置为根据用户对对讲交互模块的触发操作启动对讲交互模块，并通过对讲交互模块接收终端所属用户所输入的第一语音信息，并采用433数字通信模式将第一语音信息发送给指定终端；手持终端，还设置为接收指定终端采用433数字通信模式所发送的第二语音信息，并将第二语音信息进行播放。
施工现场的塔吊指挥人员之间的沟通，包括：信号工之间，信号工与塔司、信号工与其它指挥人员通过对讲功能直接沟通协同工作。例如，当用户按压了如图3所示的人机交互界面上的对讲按键后，会触发启动对讲交互模块，处于启动状态的对讲交互模块则可以接收用户的第一语音信息，并采用433数字通信模式将第一语音信息发送给指定终端，同时手持终端还可以通过对讲交互模块接收指定终端采用433通信模式所发送的第二语音信息，并将第二语音信息进行播放，而此处的指定终端指的是与用户的手持终端位于同一工作频段的终端，并且本实施方式中并不限定指定终端的数量，即用户可以通过对讲交互模块实现同时与多个塔吊指挥人员的沟通，以提高吊装工作的效率。
本申请实施例，在不需要特殊场景以及用户技能严格要求的情况下，通过 手持终端向塔吊控制器发送吊装需求，使得塔吊控制器和手持终端可以分别在不同的区域实现对目标塔吊的控制，以完成吊装任务，从而提高了塔吊的作业效率，满足了用户的实际作业需求。
实施例二
图6是本申请实施例二提供的一种连通状态检测的交互示意图，本实施以上述实施例为基础，通过心跳机制探测手持终端与塔吊控制器间的连通状态。
手持终端还设置为通过目标通道定时向塔吊控制器发送心跳报文，其中，心跳报文中包含手持终端标识；塔吊控制器，还设置为当在指定周期内接收到心跳报文时，根据心跳报文生成响应报文，并将响应报文反馈给手持终端，当在指定周期内未接收到心跳报文则确定手持终端出现故障，并将目标塔吊的控制权进行收回。
在一个实现中，当手持终端正常工作时，会在指定周期内向塔吊控制器发送心跳报文，并且在发送心跳报文的同时，还会向塔吊控制器发送手持终端标识和目标塔吊控制器标识，塔吊控制器当确定接收到心跳报文时，则可以确定与手指终端之间所绑定的通道通信状态良好，并且还会根据心跳报文生成响应报文，并将响应报文反馈给手持终端。由于手持终端可以绑定多个塔吊控制器，因此在响应报文中包含目标塔吊控制器标识，以告知当前的响应报文是哪个塔吊控制器反馈的。
在另一个实现中，当手持终端出现故障时，则终止向塔吊控制器发送心跳报文，塔吊控制器在指定时间范围内确定没有收到心跳报文时，则可以确定与手持终端之间的通信连接异常，为了保证目标塔吊的正常工作，会将目标塔吊的控制权进行收回，并且可以将控制权控制方式切换至塔司控制，本实施方式中并不限定出现心跳报文异常时，目标塔吊控制权限的转移方式，只要能够保证目标塔吊的正常工作，则都是在本申请的保护范围内，本实施方式中并不对其进行限定。
本申请实施例，在不需要特殊场景以及用户技能严格要求的情况下，通过手持终端向塔吊控制器发送吊装需求，使得塔吊控制器和手持终端可以分别在不同的区域实现对目标塔吊的控制，以完成吊装任务，从而提高了塔吊的作业效率，满足了用户的实际作业需求。通过通信状态检测模块的心跳机制，实时探测手指终端和塔吊控制器的连接状态，并在连接终端时，即是进行塔吊控制权的转移，从而保证了吊装工作的正常执行。
可以使用上面所示的多种形式的流程，重新排序、增加或删除步骤。例 如，本申请中记载的多个步骤可以并行地执行也可以顺序地执行也可以不同的次序执行，只要能够实现本申请的技术方案所期望的结果，本文在此不进行限制。

Claims (15)

  1. 一种塔吊控制系统，包括：手持终端(11)和塔吊控制器(12)；
    所述手持终端(11)，设置为向预先建立绑定关系的所述塔吊控制器(12)发送吊装需求，其中，所述吊装需求包括吊装目标点；
    所述塔吊控制器(12)，设置为根据所述吊装需求控制所关联的目标塔吊在第一区域的吊装过程，其中，所述吊装目标点为所述第一区域的边界点；
    所述手持终端(11)，还设置为在确定所述目标塔吊运行到第二区域的情况下，控制所述目标塔吊在所述第二区域的吊装过程，其中，所述吊装目标点为所述第二区域的边界点。
  2. 根据权利要求1所述的系统，其中，所述塔吊控制器(12)，设置为通过如下方式根据所述吊装需求控制所关联的目标塔吊在第一区域的吊装过程：根据所述吊装需求确定规划路径，并控制所述目标塔吊在所述第一区域内按照所述规划路径到达所述吊装目标点。
  3. 根据权利要求1所述的系统，其中，所述手持终端(11)，还设置为向所述塔吊控制器(12)发送权限获取请求；
    所述塔吊控制器(12)，还设置为根据所述权限获取请求生成权限转移指令，并将所述权限转移指令发送给所述手持终端(11)；
    所述手持终端(11)，设置为通过如下方式控制所述目标塔吊在所述第二区域的吊装过程：根据所述权限转移指令获取针对所述目标塔吊的控制权，并基于所述控制权在所述第二区域内向所述目标塔吊发送操作指令，以使所述目标塔吊根据所述操作指令以所述吊装目标点为起点执行吊装工作。
  4. 根据权利要求1所述的系统，其中，所述手持终端(11)，还设置为通过处于激活状态下的目标通道向绑定的塔吊控制器(12)发送控制指令，其中，不同通道分别对应不同的塔吊控制器(12)。
  5. 根据权利要求4所述的系统，其中，所述手持终端(11)，还设置为通过用户对所述手持终端(11)的操作界面上的目标通道人机交互模块的触发操作与塔吊控制器(12)建立绑定关系并激活所述目标通道，其中，所述手持终端(11)的操作界面上包括至少一个通道人机交互模块，不同通道人机交互模块分别对应不同的塔吊控制器(12)。
  6. 根据权利要求5所述的系统，其中，所述手持终端(11)的操作界面上还包括与所述至少一个通道人机交互模块所关联的指示信息；
    所述手持终端(11)，还设置为在确定与所述目标通道人机交互模块所关联的目标通道处于激活状态的情况下，将与所述目标通道人机交互模块所关联 的指示信息更新为第一状态，其中，所述第一状态用于指示所述目标通道处于激活状态。
  7. 根据权利要求4所述的系统，其中，所述手持终端(11)包括吊装请求交互模块，其中，所述吊装请求交互模块包括起勾申请交互模块和落吊申请交互模块；
    所述手持终端(11)，还设置为根据用户对所述起勾申请交互模块或所述落吊申请交互模块的触发操作启动定位模块进行自动定位以获取所述吊装目标点；获取预先建立绑定关系的所述塔吊控制器(12)的标识，以及自身的手持终端标识，并根据所述吊装目标点、所述塔吊控制器(12)的标识和所述手持终端标识生成所述吊装需求。
  8. 根据权利要求4所述的系统，其中，所述手持终端(11)的操作界面上包括控制请求交互模块；
    所述手持终端(11)，还设置为根据用户对所述控制请求交互模块的触发操作生成所述权限获取请求，并将所述权限获取请求发送给所述塔吊控制器(12)。
  9. 根据权利要求8所述的系统，其中，所述手持终端(11)的操作界面上还包括控制结束交互模块；
    所述手持终端(11)，还设置为根据用户对所述控制结束交互模块的触发操作生成权限放弃请求，并将所述权限放弃请求发送给所述塔吊控制器(12)；
    所述塔吊控制器(12)，还设置为根据所述权限放弃请求将所述目标塔吊的控制权进行收回。
  10. 根据权利要求4所述的系统，其中，所述手持终端(11)的操作界面上包括控制操作交互模块；
    所述手持终端(11)，还设置为根据用户对所述控制操作交互模块的触发操作生成按键编码，并将所述按键编码作为所述操作指令采用无线通信方式发送给所述塔吊控制器(12)；
    所述塔吊控制器(12)，还设置为根据所述操作指令以所述吊装目标点为起点对所述目标塔吊的吊装工作进行控制。
  11. 根据权利要求2所述的系统，其中，所述手持终端(11)包括预警模块；
    所述塔吊控制器(12)，还设置为在控制所述目标塔吊按照所述规划路径向所述吊装目标点运行过程中，当存在避障风险时生成预警信息，并将所述预警信息采用远距离无线电LoRa通信模式发送给所述手持终端(11)的预警模块；
    所述手持终端(11)，还设置为通过所述预警模块根据所述预警信息按照指定方式进行报警，其中，所述指定方式包括语音或灯光。
  12. 根据权利要求11所述的系统，其中，所述手持终端(11)的操作界面上还包括急停操作交互模块；
    所述手持终端(11)，还设置为根据用户对所述急停操作交互模块的触发操作生成急停指令，并将所述急停指令发送给所述塔吊控制器(12)；
    所述塔吊控制器(12)，还设置为根据所述急停指令终止所述目标塔吊的吊装工作。
  13. 根据权利要求1所述的系统，其中，所述手持终端(11)的操作界面上包括对讲交互模块；
    所述手持终端(11)，还设置为根据用户对所述对讲交互模块的触发操作启动对讲交互模块，并通过所述对讲交互模块接收终端所属用户所输入的第一语音信息，并采用433数字通信模式将所述第一语音信息发送给指定终端；
    所述手持终端(11)，还设置为接收所述指定终端采用所述433数字通信模式所发送的第二语音信息，并将所述第二语音信息进行播放。
  14. 根据权利要求4所述的系统，其中，所述手持终端(11)还设置为通过所述目标通道定时向所述塔吊控制器(12)发送心跳报文，其中，所述心跳报文中包含手持终端标识；
    所述塔吊控制器(12)，还设置为当在指定周期内接收到所述心跳报文时，根据所述心跳报文生成响应报文，并将所述响应报文反馈给所述手持终端(11)，当在所述指定周期内未接收到所述心跳报文，确定所述手持终端(11)出现故障，并将所述目标塔吊的控制权进行收回。
  15. 根据权利要求1所述的系统，其中，所述手持终端(11)包括启动认证模块；
    所述手持终端(11)，还设置为通过所述启动认证模块接收访问码，并根据所述访问码进行启动。
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CN109019333A (zh) * 2018-07-02 2018-12-18 吴思 一种智能塔吊手持定位与控制终端
CN110182696A (zh) * 2019-06-14 2019-08-30 广东博意建筑设计院有限公司 一种无人塔吊的控制方法和无人塔吊的智能系统
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CN115650069A (zh) * 2022-11-04 2023-01-31 北京东土科技股份有限公司 一种塔吊控制系统
CN115784024A (zh) * 2022-11-04 2023-03-14 北京东土科技股份有限公司 一种塔吊手持终端控制方法、装置、手持终端和存储介质

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