CN108190749A - A kind of remote control apparatus of tower crane, control method and intelligent tower crane - Google Patents
A kind of remote control apparatus of tower crane, control method and intelligent tower crane Download PDFInfo
- Publication number
- CN108190749A CN108190749A CN201810259838.0A CN201810259838A CN108190749A CN 108190749 A CN108190749 A CN 108190749A CN 201810259838 A CN201810259838 A CN 201810259838A CN 108190749 A CN108190749 A CN 108190749A
- Authority
- CN
- China
- Prior art keywords
- tower crane
- lifting hook
- remote control
- unit
- distance
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
Classifications
-
- 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
- B66C13/16—Applications of indicating, registering, or weighing 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
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a kind of remote control apparatus of tower crane, control method and intelligent tower cranes, the device includes camera unit, positioning unit, alarm unit, control unit and ground remote control display device, the ground environment image information of station where camera unit acquisition tower crane, positioning unit acquires the location information of suspension hook, and is sent to control unit and ground remote control display device；The alarm unit is arranged on the suspension hook of tower crane, detected by positioning unit, by alarm unit set detection suspension hook in the process of running with the distance of barrier, when distance less than setting safe distance when, the alarm unit is alarmed, and alarm signal is transmitted to control unit；The location information of the ground environment image information received and suspension hook is wirelessly transmitted to ground remote control display device, and the suspension hook of tower crane is controlled according to the operational order that the alarm signal or ground remote control display device received is sent by described control unit.
Description
Technical Field
The invention relates to the field of building equipment, in particular to a remote control device and a remote control method for a tower crane and an intelligent tower crane.
Background
The tower crane is the most common hoisting equipment in construction sites, is also called as a tower crane and is used for hoisting construction raw materials such as reinforcing steel bars, wood ridges, concrete, steel pipes and the like for construction. The tower crane is an indispensable device on the current building site.
At present, the infrastructure construction is vigorously developed in China, the tower crane is almost indispensable in a construction site, an operation room of the traditional tower crane is installed on a main body support and is very high away from the ground, a large amount of time is needed for an operator to get on and off the operation room, accidents are easy to happen during climbing, and the psychology of the operator is challenged by high-altitude operation; in addition, in severe weather environments, the visual line of an operator is blocked, so that it is difficult to accurately perform construction operation, and in winter and summer, the operator is difficult to work for a long time due to too high or too low air temperature, so that the construction efficiency is low.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a remote control device and a remote control method of a tower crane and an intelligent tower crane.
The technical scheme adopted by the invention is as follows:
a remote control device of a tower crane comprises a positioning unit, an alarm unit, a control unit and a ground remote control display device; the positioning unit is used for acquiring coordinate position information of the lifting hook and sending the coordinate position information to the control unit and the ground remote control display device, and the ground remote control display device assigns the received coordinate position information of the lifting hook to the tower crane three-dimensional model and displays the tower crane three-dimensional model; the alarm unit is arranged on a lifting hook of the tower crane, detects the distance between the lifting hook and an obstacle in the operation process, and gives an alarm when the distance is lower than a set safe distance, and transmits an alarm signal to the control unit and the ground remote control display device; the control unit transmits control instructions to the tower crane motor and the steel cable motor according to the received alarm signals or the operation instructions sent by the ground remote control display device, and the tower crane motor and the cable motor control the lifting hook to move according to the received control instructions.
Further, the control unit comprises a central processing unit and a first wireless signal transceiving module, and the central processing unit is arranged in an operating room of the tower crane; the first wireless signal transceiver module is arranged below an operating room of the tower crane and is connected with the central processing unit, the central processing unit is in communication connection with the camera unit, the positioning unit, the alarm unit and the ground remote control display device through the first wireless signal transceiver module, and the central processing unit is also connected with a tower crane motor and is used for controlling the suspension arm; the central processor is also connected with a steel cable motor and is used for controlling the steel cable to be folded and unfolded.
The tower crane is characterized by further comprising a camera unit, wherein the camera unit is arranged at the top end of the tower crane main body support, acquires ground environment image information of a station where the tower crane is located, and sends the ground environment image information to the control unit and the ground remote control display device; and wireless communication modules are arranged in the camera shooting unit, the positioning unit and the alarm unit.
Furthermore, the positioning unit comprises a GNSS main antenna, a GNSS auxiliary antenna, an encoder and a GNSS processing board, and the GNSS main antenna, the GNSS auxiliary antenna and the encoder are respectively connected with the GNSS processing board; the GNSS main antenna is arranged in an operation chamber of the tower crane to obtain position information of the operation chamber of the tower crane, and the GNSS auxiliary antenna is arranged at the upper end of a sliding assembly on the suspension arm to obtain position information of the sliding assembly on the suspension arm; the encoder is arranged on the sliding assembly on the suspension arm and used for detecting the number of rolling circles of the pulley so as to determine the lowering distance of the lifting hook; the GNSS processing board is installed on the suspension arm, and the three-dimensional coordinate position of the lifting hook is calculated according to the received position information of the tower crane operation room, the position information of the sliding assembly on the suspension arm and the lowering distance of the lifting hook and is sent to the control unit and the ground remote control display device.
Further, alarm unit includes infrared sensor, controller and alarm, infrared sensor and alarm are connected with the controller respectively, infrared sensor is used for gathering the lifting hook at the operation in-process and the distance of barrier to send for the controller, when the distance is less than the safe distance of settlement, controller control alarm reports to the police, and takes place alarm signal to control unit and ground remote control display device.
Further, ground remote control display device adopts industry panel computer, industry panel computer includes host computer, display screen, touch-sensitive screen, power source, switch, second wireless signal transceiver module and power, display screen, touch-sensitive screen, power source, switch and second wireless signal transceiver module are connected with the host computer respectively, the host computer passes through the touch-sensitive screen and acquires the remote operation instruction of user to the tower crane to send to the control unit through second wireless signal transceiver module, and receive the position information of the lifting hook that the control unit sent and the ground environment image information of tower crane place station, and show on the display screen.
The remote control method by adopting the remote control device of the tower crane comprises the following steps:
acquiring data of a tower crane and a construction site, and establishing a three-dimensional model of the tower crane;
determining the coordinate position information of the current lifting hook, and inputting the coordinate position information of the lifting hook to a three-dimensional model of the tower crane;
setting a target position coordinate of the lifting hook, and obtaining a lifting arm corner and a lifting hook lowering length required by moving to the target position of the lifting hook according to the three-dimensional model of the tower crane;
according to the required corner of the suspension arm and the lowering length of the lifting hook, the tower crane motor is controlled to drive the suspension arm to move by a corresponding angle, and the steel cable motor is controlled to drive the steel cable to be folded and unfolded by a certain length, so that the lifting hook moves to an appointed position. .
Further, the method also comprises the following steps: and acquiring the distance between the lifting hook and the barrier in the operation process, alarming when the distance is lower than a set safe distance, and controlling the tower crane motor to stop working.
Further, the method for determining the coordinate position information of the current hook comprises the following steps:
acquiring position information of an operation room of the tower crane and position information of a sliding assembly on a current suspension arm, and calculating a course angle of the suspension arm and a distance between the operation room and the sliding assembly on the suspension arm;
acquiring the rolling number of turns of a pulley of a sliding assembly on a suspension arm, determining the lowering distance of a lifting hook, and adding the initial distance between the sliding assembly on the suspension arm and the lifting hook and the lowering distance of the lifting hook to obtain the distance between the sliding assembly on the suspension arm and the lifting hook;
and calculating the three-dimensional coordinate position of the lifting hook according to the position information of the operating room of the tower crane, the course angle of the lifting arm, the distance between the operating room and the sliding component on the lifting arm and the distance between the sliding component on the lifting arm and the lifting hook.
An intelligent tower crane is characterized by comprising the remote control device of the tower crane.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the tower crane remote control display device, the tower crane is remotely controlled through the ground remote control display device, workers only need to remotely control the tower crane on the ground without manually sitting in an overhead operation room for operation, potential safety hazards are reduced, and the time for manually getting on and off the operation room is saved;
(2) the invention is not influenced by construction environment in the process of operating the tower crane, can ensure the continuous work of the tower crane and improve the construction efficiency;
(3) according to the invention, the ground information and the three-dimensional coordinate position information of the lifting hook are transmitted to the ground remote control display device by adopting the camera and the positioning unit, and an operator can remotely operate the lifting hook of the tower crane through the remote control display device, so that the operation mode is more intelligent and humanized, and the operation precision and the operation speed are greatly improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic diagram of an intelligent tower crane structure;
FIG. 2 is a block diagram of a remote control device of a tower crane;
FIG. 3 is a block diagram of a ground based remote control;
FIG. 4 is a schematic diagram of the positions of various points on a tower crane;
FIG. 5 is a diagram of a pulley versus an encoder;
the tower crane comprises a tower crane main body support 1, a tower crane main body support 2, a suspension arm 3, a lifting hook 4, a sliding assembly 5, a central processing unit 6, a camera unit 7, an alarm unit 8, a ground remote control display device 9, a positioning unit 10, a first wireless signal receiving and sending module 11, a power interface 12, a display screen 13, a power switch 14, a second wireless signal receiving and sending module 15, a steel cable 16, a pulley 17 and an encoder.
Detailed Description
The invention is further described with reference to the following figures and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
As introduced by the background art, in the prior art, under a severe weather environment, the sight line of an operator is blocked, the operator is difficult to construct accurately, and the operator is difficult to work for a long time due to too high or too low temperature in winter and summer, so that the construction efficiency is low.
In an exemplary embodiment of the present application, as shown in fig. 1 and 2, a remote control device for a tower crane is provided, which includes a camera unit 6, a positioning unit 9, an alarm unit 7, a control unit and a ground remote control display device 8.
The camera unit 6 is arranged at the topmost end of the tower crane main body support 1, collects the ground environment image information of a station where the tower crane is located, is provided with a wireless communication module in the camera unit, and transmits the collected image information to the control unit and the ground remote control device through the wireless communication module. In this embodiment, the camera unit 6 includes a 360-degree wide-angle camera, the camera is installed at the topmost end of the tower crane, the number of pixels taken by the camera is 500 ten thousand, the image resolution is 1080P, the model is XM-JPF2-F4, the focal length is 2.8mm, and the area of the detection area is 80-100 square meters. The information collected by the camera can be transmitted to the control unit and the ground remote control device in real time through the wireless communication module.
The positioning unit 9 is used for collecting the position information of the lifting hook 3, a wireless communication module is also arranged in the positioning unit, and the collected position information of the lifting hook is transmitted to the control unit and the ground remote control display device through the wireless communication module. In this embodiment, the positioning unit 9 includes a GNSS main antenna, a GNSS auxiliary antenna, an encoder 17, a GNSS processing board, and a power supply, where the power supply provides a required power supply for the positioning unit, and the GNSS main antenna, the GNSS auxiliary antenna, and the encoder are respectively connected to the GNSS processing board; wherein,
the GNSS main antenna is arranged in an operation chamber of the tower crane to obtain the position information of the operation chamber of the tower crane, and the GNSS auxiliary antenna is arranged at the upper end of a sliding assembly on the suspension arm to obtain the position information of a sliding assembly 4 on the suspension arm 2; the encoder is arranged on the sliding assembly on the suspension arm and used for detecting the number of rolling circles of the pulley so as to determine the lowering distance of the lifting hook; the GNSS processing board is installed on the suspension arm, and the three-dimensional coordinate position of the lifting hook is calculated according to the received position information of the tower crane operation room, the position information of the sliding assembly on the suspension arm and the lowering distance of the lifting hook and is sent to the control unit and the ground remote control display device.
Alarm unit 7 sets up on the lifting hook of tower crane, sets up the distance that detects the lifting hook and barrier at the operation in-process through alarm unit 7, when the distance is less than the safe distance of settlement, alarm unit reports to the police, reminds operating personnel to stop the operation to transmit alarm signal to the control unit. A wireless communication module is also arranged in the alarm unit, and the collected distance information and the alarm information are sent to the control unit through the wireless communication module.
In this embodiment, wireless communication modules are disposed in the camera unit 6, the positioning unit 9 and the alarm unit 7, and the wireless communication modules may be 4G communication modules or other wireless communication devices.
In this embodiment, alarm unit 7 includes infrared sensor, controller and alarm, infrared sensor and alarm are connected with the controller respectively, infrared sensor is used for gathering the lifting hook at the distance of operation in-process and barrier to send for the controller, when the distance is less than the safe distance of settlement, controller control alarm reports to the police, and takes place to the control unit with the distance information and the alarm signal who gathers, and simultaneously, alarm unit still can give alarm signal transmission for ground remote control display device, reminds ground operating personnel to press "stop" button, avoids the emergence of accident.
The control unit comprises a central processing unit 5 and a first wireless signal transceiving module 10, and the central processing unit is arranged in an operating room of the tower crane; the first wireless signal transceiver module is arranged below an operating room of the tower crane to realize signal transmission among the camera unit, the positioning unit, the ground remote control display device and the central processing unit; the central processing unit is in communication connection with the camera unit, the positioning unit, the alarm unit and the ground remote control device through a first wireless signal transceiver module, and is also connected with a tower crane motor and used for controlling the suspension arm and driving the lifting hook to move through the suspension arm; the central processor is connected with the steel cable motor and is used for controlling the steel cable to be wound and unwound; the central processor is also connected with a steel cable motor and is used for controlling the steel cable to be folded and unfolded and driving a certain length below the lifting hook through the steel cable motor. The central processing unit also receives an operation instruction sent by the ground remote control display device, and controls the tower crane motor and the steel cable motor to enable the lifting hook to reach a specified position on a construction site, so that the remote control function of the intelligent tower crane is realized.
In this embodiment, central processing unit is microprocessor, it can be W77E516A40PL type microprocessor, also can be other microprocessors, central processing unit can handle the data of sending of camera unit, positioning unit and ground remote control display device, and convert the data after handling into the signal and send ground remote control display device through first wireless signal transceiver module, ground remote control display device also communicates through second wireless signal transceiver module, central processing unit receives the operating command that ground remote control display device sent, and then control the motion of tower crane motor, thereby realize the remote control of whole intelligent tower crane.
The ground remote control display device 8 is an industrial tablet computer with a wireless transceiver module, as shown in fig. 3, the industrial tablet computer comprises a host, a display screen 12, a touch screen, a power interface 11, a power switch 13, a second wireless signal transceiver module 14 and a power supply, the display screen 12, the touch screen, the power interface 11, the power switch 13 and the second wireless signal transceiver module are respectively connected with the host, a three-dimensional model of a tower crane is transplanted in the host, and the three-dimensional model of the tower crane is displayed through the display screen; the host computer obtains the remote operation instruction of user to the tower crane through the touch-sensitive screen, and send to the control unit through second wireless signal transceiver module, and receive the coordinate position information of the lifting hook that the control unit sent and the ground environment image information of the station that the tower crane is located, and show on the display screen, ground operating personnel can observe the form of tower crane in real time through the display screen, the three-dimensional coordinate position of lifting hook and the real-time map of tower crane station that the three-dimensional coordinate position of lifting hook and tower crane are located, operating personnel can move the lifting hook of tower crane three-dimensional model to a certain concrete position or input the terminal point three-dimensional coordinate of lifting hook motion through the touch-sensitive screen, the lifting hook of the tower crane of control construction site through the.
In this embodiment, the first wireless signal transceiver module and the second wireless signal transceiver module may be 4G signal transceivers, or may be other wireless signal transceivers.
After the ground remote control display device 8 acquires the signals, the current posture of the intelligent tower crane and the ground environment of the station where the intelligent tower crane is located can be displayed on a screen in real time.
The remote control device of the tower crane provided by the invention acquires the ground working condition and the three-dimensional coordinate position information of the lifting hook through the camera unit 6 and the positioning unit 9, and sends the information to the ground remote control display device 8 through the 4G communication module, the ground remote control display device can display the three-dimensional model of the tower crane and the three-dimensional coordinate position of the lifting hook on a screen after receiving the real-time information transmitted by the positioning unit and the camera unit, the display interface of the ground remote control display device is the three-dimensional model of the tower crane and is provided with a button for 'ascending', 'descending', 'determining', 'stopping', the lifting hook of the tower crane can automatically ascend by clicking the 'ascending' button, the lifting hook of the tower crane can perform the opposite action with the former by clicking the 'descending' button, and a ground operator can select the working position of the lifting hook on the ground remote control, after clicking the 'confirm' button, the lifting hook of the tower crane model on the ground remote control display device can move to the designated position, correspondingly, the operation instruction can be transmitted to the central controller through the 4G signal transceiver module, and the central controller controls the tower crane motor so that the lifting hook reaches the designated position on the construction site.
In another exemplary embodiment of the present application, a method for remotely controlling a tower crane is provided, which includes the following steps:
step 1: and acquiring data of the tower crane and a construction site, and establishing a three-dimensional model of the tower crane.
According to data of a tower crane and a construction site, a three-dimensional model of the tower crane running on a station is built through SolidWorks three-dimensional software, then a generated three-dimensional model file is converted into a wrl format, finally the model is rendered through 3Dmax software, a portable tower crane three-dimensional model is finally generated, and the three-dimensional model of the tower crane is transplanted on a ground remote control display device.
Step 2: and determining the coordinate position information of the current lifting hook, and inputting the coordinate position information of the lifting hook to the three-dimensional model of the tower crane.
In this embodiment, the coordinate position information of the lifting hook at the current moment is determined through the positioning unit, and is sent to the ground remote control display device, the ground remote control display device receives the coordinate position information of the lifting hook at the current moment, and loads the coordinate position information to the three-dimensional model of the tower crane, and the three-dimensional model of the tower crane is displayed on the display screen.
And step 3: and setting the target position coordinate of the lifting hook, and obtaining the boom turning angle and the lifting hook lowering length required by moving to the target position of the lifting hook according to the three-dimensional model of the tower crane.
A user sets the target position coordinate of the lifting hook through the ground remote control display device, obtains the required lifting arm corner and lifting hook lowering length of the lifting hook moving to the target position of the lifting hook according to the three-dimensional model of the tower crane, and sends the lifting arm corner and lifting hook lowering length to the control unit.
And 4, step 4: according to the required corner of the suspension arm and the lowering length of the lifting hook, the tower crane motor is controlled to drive the suspension arm to move by a corresponding angle, and the steel cable motor connected with the other end of the steel cable is controlled to drive the steel cable to be folded and unfolded by a certain length so that the lifting hook is lowered by a corresponding length, so that the lifting hook is moved to a specified position.
The control unit controls the tower crane motor to drive the suspension arm to move by a corresponding angle according to the required suspension arm rotation angle and the suspension hook transfer length, and controls the steel cable motor connected with the other end of the steel cable to drive the steel cable to be folded and unfolded by a certain length so that the suspension hook transfers by a corresponding length, and therefore the suspension hook moves to a designated position.
The method further comprises the following steps: the distance between the lifting hook and the barrier in the operation process is measured through the alarm unit, when the distance is lower than the set safe distance, the alarm unit gives an alarm and transmits an alarm signal to the control unit, and the control unit controls the lifting hook of the tower crane to stop working through the tower crane motor according to the received distance signal and the alarm signal.
In this embodiment, the method for determining the coordinate position information of the hook includes:
as shown in fig. 4, point P1The position of the operation room is kept fixed in the motion process of the tower crane, and a GNSS main antenna is installed at the position; point P2The GNSS auxiliary antenna is arranged at the upper end of the sliding assembly on the suspension arm, the pulley 16 is arranged at the sliding assembly, the steel cable 15 bypasses the groove of the pulley, and the tail end of the steel cable is connected with the lifting hook 3. An encoder 17 is mounted at the pulley 16 as shown in fig. 5. Assuming that the number of codes of the encoder is n, and the radian corresponding to the minimum code lattice value is r0Then, there are:
the distance of the initial hook when the hook is retracted to the top end is measured in advance, and the point P is known2And point P3Initial distance betweenAnd continuously recording the count C of the encoderencVarying to obtain encoder full cycle count CcycleThen P is2And P3The distance betweenCan be calculated as follows:
if P is also known1Accurate coordinate P of1And the point P measured by the positioning unit1、P2Heading α and distance betweenThen the hook coordinate P3Can be calculated as follows:
so that the three-dimensional coordinate position of the hook can be accurately calculated.
In another exemplary embodiment of the present application, as shown in fig. 1, an intelligent tower crane is provided, which includes the above-mentioned remote control device for the tower crane.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (10)
1. A remote control device of a tower crane is characterized by comprising a positioning unit, an alarm unit, a control unit and a ground remote control display device; the positioning unit is used for acquiring coordinate position information of the lifting hook and sending the coordinate position information to the control unit and the ground remote control display device, and the ground remote control display device assigns the received coordinate position information of the lifting hook to the tower crane three-dimensional model and displays the tower crane three-dimensional model; the alarm unit is arranged on a lifting hook of the tower crane, detects the distance between the lifting hook and an obstacle in the operation process, and gives an alarm when the distance is lower than a set safe distance, and transmits an alarm signal to the control unit and the ground remote control display device; the control unit transmits control instructions to the tower crane motor and the steel cable motor according to the received alarm signals or the operation instructions sent by the ground remote control display device, and the tower crane motor and the cable motor control the lifting hook to move according to the received control instructions.
2. The remote control device of the tower crane according to claim 1, wherein the control unit comprises a central processing unit and a first wireless signal transceiving module, and the central processing unit is arranged in an operating chamber of the tower crane; the first wireless signal transceiver module is arranged below an operating room of the tower crane and is connected with the central processing unit, the central processing unit is in communication connection with the camera unit, the positioning unit, the alarm unit and the ground remote control display device through the first wireless signal transceiver module, and the central processing unit is connected with a tower crane motor and is used for controlling the suspension arm; the central processor is also connected with a steel cable motor and is used for controlling the steel cable to be folded and unfolded.
3. The remote control device of the tower crane according to claim 1, further comprising a camera unit, wherein the camera unit is arranged at the top end of the tower crane main body support, collects ground environment image information of a station where the tower crane is located, and sends the image information to the control unit and the ground remote control display device; and wireless communication modules are arranged in the camera shooting unit, the positioning unit and the alarm unit.
4. The remote control device of the tower crane according to claim 1, wherein the positioning unit comprises a GNSS main antenna, a GNSS auxiliary antenna, an encoder and a GNSS processing board, and the GNSS main antenna, the GNSS auxiliary antenna and the encoder are respectively connected with the GNSS processing board; the GNSS main antenna is arranged in an operation chamber of the tower crane to obtain position information of the operation chamber of the tower crane, and the GNSS auxiliary antenna is arranged at the upper end of a sliding assembly on the suspension arm to obtain position information of the sliding assembly on the suspension arm; the encoder is arranged on the sliding assembly on the suspension arm and used for detecting the number of rolling circles of the pulley so as to determine the lowering distance of the lifting hook; the GNSS processing board is installed on the suspension arm, and the three-dimensional coordinate position of the lifting hook is calculated according to the received position information of the tower crane operation room, the position information of the sliding assembly on the suspension arm and the lowering distance of the lifting hook and is sent to the control unit and the ground remote control display device.
5. The remote control device of the tower crane according to claim 1, wherein the alarm unit comprises an infrared sensor, a controller and an alarm, the infrared sensor and the alarm are respectively connected with the controller, the infrared sensor is used for collecting the distance between the lifting hook and an obstacle in the operation process and sending the distance to the controller, and when the distance is lower than a set safe distance, the controller controls the alarm to give an alarm and sends an alarm signal to the control unit and a ground remote control display device.
6. The remote control device of the tower crane according to claim 1, wherein the ground remote control display device adopts an industrial tablet computer, the industrial tablet computer comprises a host, a display screen, a touch screen, a power interface, a power switch, a second wireless signal transceiver module and a power supply, the display screen, the touch screen, the power interface, the power switch and the second wireless signal transceiver module are respectively connected with the host, the host acquires a remote operation instruction of a user for the tower crane through the touch screen, sends the remote operation instruction to the control unit through the second wireless signal transceiver module, receives position information of a lifting hook sent by the control unit and ground environment image information of a station where the tower crane is located, and displays the position information and the ground environment image information on the display screen.
7. The remote control method by adopting the remote control device of the tower crane in any one of claims 1-6 is characterized by comprising the following steps:
acquiring data of a tower crane and a construction site, and establishing a three-dimensional model of the tower crane;
determining the coordinate position information of the current lifting hook, and inputting the coordinate position information of the lifting hook to a three-dimensional model of the tower crane;
setting a target position coordinate of the lifting hook, and obtaining a lifting arm corner and a lifting hook lowering length required by moving to the target position of the lifting hook according to the three-dimensional model of the tower crane;
according to the required corner of the suspension arm and the lowering length of the lifting hook, the tower crane motor is controlled to drive the suspension arm to move by a corresponding angle, and the steel cable motor is controlled to drive the steel cable to be folded and unfolded by a certain length, so that the lifting hook moves to an appointed position.
8. The control method according to claim 7, further comprising: and acquiring the distance between the lifting hook and the barrier in the operation process, alarming when the distance is lower than a set safe distance, and controlling the tower crane motor to stop working.
9. The control method according to claim 7, wherein the determination method of the coordinate position information of the current hook is:
acquiring position information of an operation room of the tower crane and position information of a sliding assembly on a current suspension arm, and calculating a course angle of the suspension arm and a distance between the operation room and the sliding assembly on the suspension arm;
acquiring the rolling number of turns of a pulley of a sliding assembly on a suspension arm, determining the lowering distance of a lifting hook, and adding the initial distance between the sliding assembly on the suspension arm and the lifting hook and the lowering distance of the lifting hook to obtain the distance between the sliding assembly on the suspension arm and the lifting hook;
and calculating the three-dimensional coordinate position of the lifting hook according to the position information of the operating room of the tower crane, the course angle of the lifting arm, the distance between the operating room and the sliding component on the lifting arm and the distance between the sliding component on the lifting arm and the lifting hook.
10. An intelligent tower crane, which is characterized by comprising a remote control device of the tower crane according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810259838.0A CN108190749A (en) | 2018-03-27 | 2018-03-27 | A kind of remote control apparatus of tower crane, control method and intelligent tower crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810259838.0A CN108190749A (en) | 2018-03-27 | 2018-03-27 | A kind of remote control apparatus of tower crane, control method and intelligent tower crane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108190749A true CN108190749A (en) | 2018-06-22 |
Family
ID=62596224
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810259838.0A Pending CN108190749A (en) | 2018-03-27 | 2018-03-27 | A kind of remote control apparatus of tower crane, control method and intelligent tower crane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108190749A (en) |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108483262A (en) * | 2018-07-10 | 2018-09-04 | 南华大学 | A kind of tower crane and its control system |
| CN108609503A (en) * | 2018-08-10 | 2018-10-02 | 湖南大学 | Tower crane obstacle avoidance apparatus, hand-held control device and tower crane automatic obstacle-avoiding system |
| CN109019347A (en) * | 2018-10-18 | 2018-12-18 | 东北大学 | A kind of bridge crane automatic control system |
| CN109850768A (en) * | 2018-12-03 | 2019-06-07 | 中国建筑第八工程局有限公司 | Vertical transport equipment for assembled architecture |
| CN110127525A (en) * | 2019-05-30 | 2019-08-16 | 大连迈尚科技有限公司 | A kind of tower crane suspension hook visualization device based on photoelectricity absolute value encoder |
| CN110294429A (en) * | 2019-06-22 | 2019-10-01 | 武汉宏宇建设工程咨询有限公司 | A kind of tower crane stabilization of equipment performance analysis system |
| CN110697578A (en) * | 2019-09-27 | 2020-01-17 | 南京理工大学 | Tower crane teleoperation control system and method based on multi-sensor fusion |
| CN111392599A (en) * | 2020-03-05 | 2020-07-10 | 和芯星通科技(北京)有限公司 | Automatic tower crane control method |
| CN112173973A (en) * | 2020-09-30 | 2021-01-05 | 程霖锋 | Tower crane remote real-time operation system |
| CN112239168A (en) * | 2020-12-04 | 2021-01-19 | 中冶建工集团有限公司 | A kind of tower crane remote control operation intelligent early warning and anti-control method |
| CN112429645A (en) * | 2020-11-18 | 2021-03-02 | 陈俊 | Tower crane remote operation and monitoring system |
| CN112835081A (en) * | 2021-01-29 | 2021-05-25 | 中国地质大学（武汉） | A kind of intelligent control method and system for tower crane |
| CN112919348A (en) * | 2021-04-02 | 2021-06-08 | 中国电建集团重庆工程有限公司 | Tower crane safety monitoring system and method |
| CN113265956A (en) * | 2021-05-18 | 2021-08-17 | 河南五建建设集团有限公司 | Hydraulic stepping type multifunctional suspension-assembly girder lifting machine and steel box girder assembly construction method |
| CN113923419A (en) * | 2021-10-29 | 2022-01-11 | 北京中铁建建筑科技有限公司 | Oblique photography data acquisition device and method of tower crane |
| CN114715792A (en) * | 2022-04-22 | 2022-07-08 | 成都新泰高科技术有限公司 | Lifting hook movement route planning system |
| US20220219949A1 (en) * | 2019-05-22 | 2022-07-14 | Tadano Ltd. | Remote operation terminal and mobile crane provided with remote operation terminal |
| CN114859363A (en) * | 2022-05-10 | 2022-08-05 | 中国能源建设集团云南火电建设有限公司 | A method for monitoring and dynamic adjustment of fan hoisting distance in complex environment |
| CN116281685A (en) * | 2023-03-24 | 2023-06-23 | 中建八局发展建设有限公司 | Vertical positioning system for hook head of tower crane |
| US20240063040A1 (en) * | 2022-08-18 | 2024-02-22 | Daifuku Co., Ltd. | Article Elevating Device |
| CN119143017A (en) * | 2024-11-12 | 2024-12-17 | 广东光速智能设备有限公司 | Positioning method and system of unmanned tower crane |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204211375U (en) * | 2014-09-04 | 2015-03-18 | 童杨益 | A kind of remote-controlled tower crane |
| CN104649159A (en) * | 2015-01-12 | 2015-05-27 | 四川建筑职业技术学院 | Remote control safety tower crane based on point position coordinate and hoisting method of remote control safety tower crane |
| CN105366574A (en) * | 2015-10-27 | 2016-03-02 | 张琳 | Safety control device for tower cranes |
| CN205932984U (en) * | 2016-08-11 | 2017-02-08 | 李毅 | Automatic tower crane of intelligence remote control |
| CN106516984A (en) * | 2016-12-29 | 2017-03-22 | 深圳大学 | Unmanned tower crane control system based on wireless communication network and implementing method |
| CN106927368A (en) * | 2017-04-22 | 2017-07-07 | 常州信息职业技术学院 | A kind of intelligent tower crane system and its method of work |
| CN206751218U (en) * | 2017-04-22 | 2017-12-15 | 常州信息职业技术学院 | A kind of intelligent tower crane system |
-
2018
- 2018-03-27 CN CN201810259838.0A patent/CN108190749A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204211375U (en) * | 2014-09-04 | 2015-03-18 | 童杨益 | A kind of remote-controlled tower crane |
| CN104649159A (en) * | 2015-01-12 | 2015-05-27 | 四川建筑职业技术学院 | Remote control safety tower crane based on point position coordinate and hoisting method of remote control safety tower crane |
| CN105366574A (en) * | 2015-10-27 | 2016-03-02 | 张琳 | Safety control device for tower cranes |
| CN205932984U (en) * | 2016-08-11 | 2017-02-08 | 李毅 | Automatic tower crane of intelligence remote control |
| CN106516984A (en) * | 2016-12-29 | 2017-03-22 | 深圳大学 | Unmanned tower crane control system based on wireless communication network and implementing method |
| CN106927368A (en) * | 2017-04-22 | 2017-07-07 | 常州信息职业技术学院 | A kind of intelligent tower crane system and its method of work |
| CN206751218U (en) * | 2017-04-22 | 2017-12-15 | 常州信息职业技术学院 | A kind of intelligent tower crane system |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108483262A (en) * | 2018-07-10 | 2018-09-04 | 南华大学 | A kind of tower crane and its control system |
| CN108609503A (en) * | 2018-08-10 | 2018-10-02 | 湖南大学 | Tower crane obstacle avoidance apparatus, hand-held control device and tower crane automatic obstacle-avoiding system |
| CN109019347A (en) * | 2018-10-18 | 2018-12-18 | 东北大学 | A kind of bridge crane automatic control system |
| CN109850768A (en) * | 2018-12-03 | 2019-06-07 | 中国建筑第八工程局有限公司 | Vertical transport equipment for assembled architecture |
| US20220219949A1 (en) * | 2019-05-22 | 2022-07-14 | Tadano Ltd. | Remote operation terminal and mobile crane provided with remote operation terminal |
| US12240735B2 (en) * | 2019-05-22 | 2025-03-04 | Tadano Ltd. | Remote operation terminal and mobile crane provided with remote operation terminal |
| CN110127525A (en) * | 2019-05-30 | 2019-08-16 | 大连迈尚科技有限公司 | A kind of tower crane suspension hook visualization device based on photoelectricity absolute value encoder |
| CN110294429A (en) * | 2019-06-22 | 2019-10-01 | 武汉宏宇建设工程咨询有限公司 | A kind of tower crane stabilization of equipment performance analysis system |
| CN110697578A (en) * | 2019-09-27 | 2020-01-17 | 南京理工大学 | Tower crane teleoperation control system and method based on multi-sensor fusion |
| CN111392599A (en) * | 2020-03-05 | 2020-07-10 | 和芯星通科技(北京)有限公司 | Automatic tower crane control method |
| CN111392599B (en) * | 2020-03-05 | 2021-11-09 | 和芯星通科技(北京)有限公司 | Automatic tower crane control method |
| CN112173973A (en) * | 2020-09-30 | 2021-01-05 | 程霖锋 | Tower crane remote real-time operation system |
| CN112429645A (en) * | 2020-11-18 | 2021-03-02 | 陈俊 | Tower crane remote operation and monitoring system |
| CN112239168A (en) * | 2020-12-04 | 2021-01-19 | 中冶建工集团有限公司 | A kind of tower crane remote control operation intelligent early warning and anti-control method |
| CN112835081A (en) * | 2021-01-29 | 2021-05-25 | 中国地质大学（武汉） | A kind of intelligent control method and system for tower crane |
| CN112835081B (en) * | 2021-01-29 | 2023-04-11 | 中国地质大学（武汉） | Intelligent control method and system for tower crane |
| CN112919348A (en) * | 2021-04-02 | 2021-06-08 | 中国电建集团重庆工程有限公司 | Tower crane safety monitoring system and method |
| CN113265956A (en) * | 2021-05-18 | 2021-08-17 | 河南五建建设集团有限公司 | Hydraulic stepping type multifunctional suspension-assembly girder lifting machine and steel box girder assembly construction method |
| CN113923419A (en) * | 2021-10-29 | 2022-01-11 | 北京中铁建建筑科技有限公司 | Oblique photography data acquisition device and method of tower crane |
| CN114715792A (en) * | 2022-04-22 | 2022-07-08 | 成都新泰高科技术有限公司 | Lifting hook movement route planning system |
| CN114859363A (en) * | 2022-05-10 | 2022-08-05 | 中国能源建设集团云南火电建设有限公司 | A method for monitoring and dynamic adjustment of fan hoisting distance in complex environment |
| US20240063040A1 (en) * | 2022-08-18 | 2024-02-22 | Daifuku Co., Ltd. | Article Elevating Device |
| CN116281685A (en) * | 2023-03-24 | 2023-06-23 | 中建八局发展建设有限公司 | Vertical positioning system for hook head of tower crane |
| CN119143017A (en) * | 2024-11-12 | 2024-12-17 | 广东光速智能设备有限公司 | Positioning method and system of unmanned tower crane |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108190749A (en) | A kind of remote control apparatus of tower crane, control method and intelligent tower crane | |
| CN106516984B (en) | A kind of unmanned tower crane control system and implementation method based on wireless communication networks | |
| CN106946159A (en) | One kind is based on the pinpoint building tower crane automatic running systems of the Big Dipper/GPS and control method | |
| CN115448185B (en) | Super large intelligent tower crane and construction method | |
| CN207418144U (en) | Intelligent tower crane | |
| CN207957557U (en) | A kind of remote control apparatus and intelligent tower crane of tower crane | |
| CN111847245A (en) | 5G network-based tower crane remote monitoring system | |
| CN205067744U (en) | Mobile terminal control type obstacle detection system with adjustable scope | |
| CN113148879B (en) | A tower crane intelligent obstacle avoidance hook and its control system | |
| CN111186771A (en) | Remote tower crane intelligent control system | |
| CN109993935A (en) | Device and method for positioning construction machinery and monitoring its safety area | |
| KR101103719B1 (en) | Tower crane unloading position target device | |
| CN105152038B (en) | Tower crane positioning device and method | |
| CN105366548A (en) | System and method for monitoring lifting hook deflection of portal crane | |
| CN204251219U (en) | Tower crane | |
| CN106927357A (en) | Tower crane lift hook safe condition supervising device and control method | |
| CN115028076A (en) | Remote control system and control method of tower crane | |
| CN116621040A (en) | Tower crane control method and system, control terminal and storage medium | |
| CN108892039A (en) | A kind of tower crane and its control system | |
| CN109110644B (en) | Accurate positioning system of steel truss member based on BIM | |
| CN210655880U (en) | Tower crane automatic control system based on two-dimensional code | |
| CN216403660U (en) | Tower crane intelligence keeps away barrier lifting hook and control system thereof | |
| CN205276244U (en) | Ram quick -witted automatic control system by force | |
| CN208087072U (en) | A kind of multifunctional intelligent tower crane monitoring and acquisition system | |
| CN114821922A (en) | Intelligent tunnel construction safety detection equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |