CN116621040A - Tower crane control method and system, control terminal and storage medium - Google Patents

Abstract

This application discloses a tower crane control method and system, a control terminal and a storage medium, and relates to the technical field of tower crane control. The tower crane includes a tower arm and a hook. The control method includes: at the first moment, acquiring the first The first position information of the position and the second position information of the second position; the pitch angle of the tower arm is obtained according to the first position information and the second position information; the spatial position information of the hook is obtained according to the length and pitch angle of the tower arm, and Control the state of the tower crane according to the spatial position information of the hook. By obtaining the position information of two different positions on the tower arm at the same time, the real-time pitch angle of the tower arm can be obtained, and the real-time space position information of the hook can be obtained by using the real-time pitch angle, which can complete the hoisting operation more accurately, improve control efficiency and reduce safety hazards .

Description

Tower crane control method and system, control terminal and storage medium

technical field

The present application relates to the technical field of tower crane control, and more specifically, to a tower crane control method and system, a control terminal, and a computer-readable storage medium.

Background technique

At present, the driving and working process of the tower crane is still at the level of purely manual operation and command. In the complex environment of the construction site, the tower crane is controlled by manual operation of the programmable logic controller (Programmable Logic Controller, PLC) in the cockpit, and The direction of movement of the tower crane is manually determined. The above-mentioned tower crane control method has low efficiency and precision, and at the same time, it is easy to cause collision between the tower crane and obstacles, resulting in safety problems.

Contents of the invention

In view of the above, the present application provides a tower crane control method and system, a control terminal and a computer-readable storage medium for improving the efficiency and accuracy of controlling the crane.

The first aspect of the present application provides a tower crane control method, the tower crane includes a tower arm and a hook, and the method includes:

At a first moment, acquiring first position information of a first position on the tower arm and second position information of a second position;

obtaining the pitch angle of the tower arm according to the first position information and the second position information;

The spatial position information of the suspension hook is obtained according to the length of the tower arm and the pitch angle, so as to control the state of the tower crane according to the spatial position information of the suspension hook.

In this way, at the first moment, after the control terminal obtains the first position information of the first position on the tower arm and the second position information of the second position, the pitch angle of the tower arm is obtained according to the first position information and the second position information, Finally, the spatial position information of the hook is obtained according to the length and pitch angle of the tower arm, and the state of the tower crane is controlled according to the spatial position information of the hook. By obtaining the position information of two different positions on the tower arm at the same time, the real-time pitch angle of the tower arm can be obtained, and the real-time space position information of the hook can be obtained by using the real-time pitch angle, which can complete the hoisting operation more accurately, improve control efficiency and reduce safety hazards .

As an optional implementation manner of the first aspect, the obtaining the pitch angle of the tower arm according to the first position information and the second position information includes:

Obtaining the distance between the first location and the second location according to the longitude and latitude of the first location information and the longitude and latitude of the second location information;

obtaining an elevation difference between the first location and the second location according to the elevation of the first location information and the elevation of the second location information;

The pitch angle of the tower arm is obtained according to the distance and the elevation difference.

In this way, the distance between the first location and the second location can be obtained according to the longitude and latitude of the first location information and the longitude and latitude of the second location information, and the distance between the first location and the second location can be obtained according to the elevation of the first location information and the elevation of the second location information The elevation difference between the first position and the second position, and finally the pitch angle of the tower arm can be obtained according to the distance and the elevation difference.

As an optional implementation manner of the first aspect, after the step of obtaining the first position information of the first position on the tower arm and the second position information of the second position at the first moment, the step further includes:

At a second moment, acquiring third position information of the first position and fourth position information of the second position on the tower arm;

obtaining the rotation angle of the tower arm according to the first position information, the second position information, the third position information and the fourth position information;

The spatial position information of the hook is obtained according to the length of the tower arm, the pitch angle and the rotation angle.

In this way, at the second moment, after the control terminal acquires the third position information of the first position and the fourth position information of the second position on the tower arm, then according to the first position information, the second position information, the third position information and The fourth position information obtains the rotation angle of the tower arm, and finally obtains the spatial position information of the hook according to the length of the tower arm, the pitch angle and the rotation angle, so as to control the state of the tower crane according to the spatial position information of the hook. The real-time rotation angle of the tower arm is obtained by obtaining the position information of two different positions on the tower arm at the first moment and the second moment respectively, and the spatial position information of the hook is obtained according to the length, rotation angle and pitch angle of the tower arm, so that According to the spatial position information of the hook to control the state of the tower crane, the pitch angle and rotation angle of the tower crane can be calculated at the same time without installing too many sensors, so that the real-time spatial position information of the hook can be obtained, and then accurate Control the tower crane to perform corresponding operations, reduce costs, improve control efficiency, simplify the control system and reduce potential safety hazards.

As an optional implementation manner of the first aspect, the obtaining the rotation of the tower arm according to the first position information, the second position information, the third position information and the fourth position information Angle includes:

obtaining a first slope according to the first location information and the second location information;

obtaining a second slope according to the third position information and the fourth position information;

A rotation angle of the tower arm is obtained according to the first slope and the second slope.

In this way, the first slope can be obtained according to the first position information and the second position information, the second slope can be obtained according to the third position information and the fourth position information, and the rotation angle of the tower arm can be obtained according to the first slope and the second slope.

The second aspect of the present application provides a tower crane control system for controlling the tower crane. The tower crane includes a tower arm and a hook. The tower crane control system includes: a control terminal,

The control terminal is used for:

At a first moment, acquiring the first position information of a first position on the tower arm and the second position information of a second position;

obtaining the pitch angle of the tower arm according to the first position information and the second position information;

The spatial position information of the suspension hook is obtained according to the length of the tower arm and the pitch angle, so as to control the state of the tower crane according to the spatial position information of the suspension hook.

In this way, at the first moment, after the control terminal obtains the first position information of the first position on the tower arm and the second position information of the second position, the pitch angle of the tower arm is obtained according to the first position information and the second position information, Finally, the spatial position information of the hook is obtained according to the length and pitch angle of the tower arm, and the state of the tower crane is controlled according to the spatial position information of the hook. By obtaining the position information of two different positions on the tower arm at the same time, the real-time pitch angle of the tower arm can be obtained, and the real-time space position information of the hook can be obtained by using the real-time pitch angle, which can complete the hoisting operation more accurately, improve control efficiency and reduce safety hazards . The control terminal is independently connected with the tower crane control system to realize intelligent application and have the ability to expand the system.

As an optional implementation manner of the second aspect, the tower crane control system further includes a location information collection device,

The position information collection device is used to collect the first position information and the third position information of the first position on the tower arm and the second position information and the second position information of the second position. Fourth location information.

In this way, the control terminal can obtain the first position information, the second position information, the third position information and the fourth position information on the tower arm through the position information acquisition device, so as to calculate the real-time pitch angle and real-time rotation angle.

As an optional implementation of the second aspect, the tower crane control system further includes a programmable logic controller, configured to receive spatial position information of the control terminal passing through the hook A generated control instruction is generated, and the state of the tower crane is controlled according to the control instruction.

In this way, after the control terminal calculates the real-time spatial position information of the hook, it generates control instructions according to the spatial position information of the hook, and then precisely controls the state of the tower crane through the programmable logic controller, so that the tower crane driver can realize remote and precise control of the tower crane , to reduce potential safety hazards.

As an optional implementation manner of the second aspect, the control terminal is further configured to obtain the first location and the the distance between the said second locations;

obtaining an elevation difference between the first location and the second location according to the elevation of the first location information and the elevation of the second location information;

The pitch angle of the tower arm is obtained according to the distance and the elevation difference.

In this way, the distance between the first location and the second location can be obtained according to the longitude and latitude of the first location information and the longitude and latitude of the second location information, and the distance between the first location and the second location can be obtained according to the elevation of the first location information and the elevation of the second location information The elevation difference between the first position and the second position, and finally the pitch angle of the tower arm can be obtained according to the distance and the elevation difference.

As an optional implementation manner of the second aspect,

The control terminal is further configured to acquire third position information of the first position and fourth position information of the second position on the tower arm at a second moment;

obtaining the rotation angle of the tower arm according to the first position information, the second position information, the third position information and the fourth position information;

The spatial position information of the hook is obtained according to the length of the tower arm, the pitch angle and the rotation angle.

In this way, at the second moment, after the control terminal acquires the third position information of the first position and the fourth position information of the second position on the tower arm, then according to the first position information, the second position information, the third position information and The fourth position information obtains the rotation angle of the tower arm, and finally obtains the spatial position information of the hook according to the length of the tower arm, the pitch angle and the rotation angle, so as to control the state of the tower crane according to the spatial position information of the hook. The real-time rotation angle of the tower arm is obtained by obtaining the position information of two different positions on the tower arm at the first moment and the second moment respectively, and the spatial position information of the hook is obtained according to the length, rotation angle and pitch angle of the tower arm, so that According to the spatial position information of the hook to control the state of the tower crane, the pitch angle and rotation angle of the tower crane can be calculated at the same time without installing too many sensors, so that the real-time spatial position information of the hook can be obtained, and then accurate Control the tower crane to perform corresponding operations, reduce costs, improve control efficiency, simplify the control system and reduce potential safety hazards.

As an optional implementation manner of the second aspect, the control terminal is further configured to obtain a first slope according to the first location information and the second location information;

obtaining a second slope according to the third position information and the fourth position information;

A rotation angle of the tower arm is obtained according to the first slope and the second slope.

In this way, the first slope can be obtained according to the first position information and the second position information, the second slope can be obtained according to the third position information and the fourth position information, and the rotation angle of the tower arm can be obtained according to the first slope and the second slope.

The third aspect of the present application provides a control terminal. The control terminal includes a processor and a memory, and the memory stores a computer program. When the computer program is executed by the processor, the above tower crane control method is implemented.

A fourth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the tower crane control method as described above is realized.

In the tower crane control method and system, control terminal and computer-readable storage medium of the present application, at the first moment, after the control terminal obtains the first position information of the first position on the tower arm and the second position information of the second position, according to The pitch angle of the tower arm is obtained from the first position information and the second position information, and finally the spatial position information of the hook is obtained according to the length and pitch angle of the tower arm, so as to control the state of the tower crane according to the spatial position information of the hook. By obtaining the position information of two different positions on the tower arm at the same time, the real-time pitch angle of the tower arm can be obtained, and the real-time space position information of the hook can be obtained by using the real-time pitch angle, which can complete the hoisting operation more accurately, improve control efficiency and reduce safety hazards .

Additional aspects and advantages of the embodiments of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the embodiments of the application.

Description of drawings

The above and/or additional aspects and advantages of the present application will become apparent and understandable from the description of the embodiments in conjunction with the following drawings, wherein:

Fig. 1 is the structural representation of tower crane;

Fig. 2 is a schematic structural diagram of the connection between the control terminal and the GNSS two-wire device in the embodiment of the present application;

3 is a schematic flow chart of a tower crane control method according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a scene of a tower crane control method according to an embodiment of the present application;

5 is a schematic flow diagram of a tower crane control method according to an embodiment of the present application;

6 is a schematic flow chart of a tower crane control method according to an embodiment of the present application;

FIG. 7 is a schematic diagram of another scene of the tower crane control method according to the embodiment of the present application;

FIG. 8 is a schematic flowchart of a tower crane control method according to an embodiment of the present application;

9 is a schematic flowchart of a tower crane control method according to an embodiment of the present application;

10 is a schematic diagram of a system block diagram of a tower crane control system according to an embodiment of the present application;

Fig. 11 is a schematic flow diagram of the hoisting operation performed by the tower crane control system according to the embodiment of the present application;

Fig. 12 is a schematic flow diagram of the inspection of the safety mechanism of the tower crane control system according to the embodiment of the present application;

FIG. 13 is a schematic structural diagram of a control terminal according to an embodiment of the present application.

Detailed ways

Words first, second, third, and similar terms in the description and claims are only used to distinguish similar objects, and do not represent a specific ordering of objects. It is understandable that specific terms can be interchanged where permitted. sequence or sequence such that the embodiments of the application described herein can be practiced in sequences other than those illustrated or described herein. In the following description, the involved reference numerals representing steps, such as S301, S302, ..., etc., do not mean that this step must be executed, and the order of the previous and subsequent steps can be interchanged or executed simultaneously if allowed. The term "comprising" used in the description and claims should not be interpreted as being limited to what is listed thereafter; it does not exclude other constituents or steps. Therefore, it should be interpreted as specifying the presence of said features, integers, steps or components, but not excluding the presence or addition of one or more other features, integers, steps or components and groups thereof. Therefore, the expression "apparatus comprising A unit and B unit" should not be limited to an apparatus composed of only A unit and B unit. Reference in this specification to "some embodiments" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least some embodiments of the invention. Thus, appearances of the phrases "in some embodiments" or "in an embodiment" in various places in this specification do not necessarily all refer to the same embodiment, but may. Furthermore, the particular features, structures or characteristics may be combined in any suitable manner, as would be apparent to one of ordinary skill in the art from this disclosure, in one or more embodiments. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. In case of any inconsistency, the meaning stated in this manual or the meaning derived from the content recorded in this manual shall prevail. In addition, the terms used herein are only for the purpose of describing the embodiments of the present application, and are not intended to limit the present application.

In order to accurately describe the technical content in this application, and to accurately understand the present invention, the following explanations or definitions are given to the terms used in this specification before describing the specific embodiments.

Global Navigation Satellite System (GNSS) is an all-weather, all-time, all-region high-precision positioning system.

GNSS receivers can receive signals from GNSS satellites to track, process and measure satellite signals.

A brief description of related technologies will be given below.

Please refer to FIG. 1. FIG. 1 is a schematic diagram of the structure of a tower crane 1. The tower crane 1, also known as a "tower crane", is used to transfer raw materials on construction sites, such as steel bars, concrete and steel pipes. The suspension tower includes a tower body 11 , a tower arm 12 , a suspension rope 13 and a suspension hook 14 . The tower crane 1 can carry out two movement modes by using the tower arm 12. The first is luffing movement. By changing the pitch angle of the tower arm 12, the hook 14 can be moved close to the tower body 11 or away from the tower body 11, wherein the tower The elevation angle of the arm 12 refers to the elevation angle formed by the tower arm 12 and the horizontal plane and the depression angle formed by the tower arm 12 and the horizontal plane. That is to say, the luffing radius of the hook 14 refers to the horizontal variation distance between the hook 14 and the tower body 11 during luffing movement. The other is rotational movement, that is, without changing the longitudinal direction of the tower arm 12 , the tower arm 12 rotates around the tower body 11 to move the hook 14 .

In the entire hoisting operation workflow of the tower crane 1, the hooker is required to hang the object on the hook, the signalman directs the tower crane driver to transfer the object, and the unloader unloads the object. Due to the complex environment of the construction site and the existence of visual blind spots for all personnel, safety problems are likely to occur. For example, when the hook 14 hangs the object in the air, both parties cannot accurately identify the position of the object. The communication between them is not smooth, and it is easy for objects or tower cranes to collide with obstacles. For another example, the driver of the tower crane will go up and down from the cockpit of the tower crane 1 to confirm the exact position of the object, which will result in loss of working time.

To this end, the embodiments of the present application provide a pendant control method and system, a control terminal 100 and a non-volatile computer-readable storage medium, which can improve the efficiency and accuracy of controlling the pendant. In the embodiment of the present application, there may be various location information collection devices for simultaneously collecting location information at two different locations on the tower arm, such as the GNSS two-wire device 200 . The embodiment of the present application takes the GNSS two-wire device 200 as an example to illustrate the control method of the pendant.

Please refer to FIG. 2 . FIG. 2 is a schematic structural diagram of the connection between the control terminal 100 and the GNSS two-wire device 200 in the embodiment of the present application. The GNSS two-wire device 200 includes a GNSS receiver 210 , a first antenna 220 and a second antenna 230 . The first antenna 220 and the second antenna 230 receive satellite signals and send them to the GNSS receiver 210 . The GNSS receiver 210 is electrically connected to the control terminal 100 and processes the satellite signals into position information, which is sent to the control terminal 100 .

Please refer to FIG. 3. FIG. 3 is a schematic flow chart of the control method for the crane in the embodiment of the present application. The control method for the tower crane in the embodiment of the present application may include:

Step S301: At a first moment, acquire first position information of a first position on the tower arm 12 and second position information of a second position.

The GNSS two-wire device 200 is installed on the tower arm 12, and the first antenna 220 and the second antenna 230 can be respectively installed on different positions of the tower arm 12 so as to collect position information at different positions, that is to say, the first position is Refers to the location where one of the first antenna 220 and the second antenna 230 is installed, and the location information of this location is the first location information; the second location refers to the installation location of the other antenna among the first antenna 220 and the second antenna 230 , and the location information of the location is the second location information. For example, as shown in Figure 4, the first antenna 220 is installed at the A place of the tower arm 12 and receives the satellite signal at the A place, the second antenna 220 is installed at the B place of the tower arm 12 and receives the satellite signal at the B place, and the GNSS receives Machine 210 processes the satellite signals at A and B into position information at A and B through real-time dynamic difference method (Real-time kinematic, RTK), and sends the position information at A and B to the control terminal 100 , so that the control terminal 100 can obtain the location information of A and B on the tower arm 12 .

During the movement of the tower arm 12, the GNSS two-wire device 200 continuously collects the position information of different positions on the tower arm 12. Therefore, the control terminal 100 can obtain the position information of the tower crane 1 at different moments during the movement process, that is to say The first moment refers to any moment during the movement of the tower arm 12 .

Understandably, using GNSS two-wire equipment and obtaining high-precision positioning data of different positions of the tower arm 12 through RTK measurement can improve the efficiency and accuracy of tower arm 12 motion posture recognition, and more accurately control the tower arm 12 for hoisting operations.

Step S302: Obtain the pitch angle of the tower arm 12 according to the first position information and the second position information.

During the luffing movement of the tower crane 1, the control terminal can calculate the real-time pitch angle of the tower arm 12 according to different position information on the tower arm 12 at a certain moment. For example, please refer to FIG. 4 again. After the GNSS two-wire device 200 measures the position information of A and B through RTK, it sends the position information to the control terminal 100. The position information is calculated to obtain the pitch angle of the tower arm 12 at this moment, and by analogy, the real-time pitch angle of the tower arm 12 during the entire luffing movement process can be obtained.

Step S303: Obtain the spatial position information of the hook 14 according to the length and pitch angle of the tower arm 12, so as to control the state of the tower crane 1 according to the spatial position information of the hook 14.

The length of the tower arm 12 can be measured in advance or obtained from a supplier. Specifically, when the tower crane 1 performs luffing movement, the control terminal 100 can obtain the real-time spatial position information of the hook 14 during the luffing movement process according to the known length of the tower arm 12 and the real-time pitch angle combined with geometric formulas such as the Pythagorean Theorem .

The control terminal 100 uses the real-time spatial position information of the hook 14 as an operation basis for controlling the tower crane 1 , and then controls the state of the tower crane 1 . For example, according to the real-time spatial position information of the hook 14, if it is found that the target object is too far away, the tower crane 1 or the tower arm 12 can be moved so that the hook 14 can hang the target object.

It can be understood that by installing a position information acquisition device on the tower arm 12 that can simultaneously obtain two different positions on the tower arm, such as the GNSS two-wire device 200, the control terminal 100 can obtain the real-time pitch angle of the tower arm 12, and use the real-time pitch The real-time spatial position information of the hook 14 can be obtained, and then, the control terminal 100 controls the PLC controller 110 (shown in FIG. 8 ) of the tower crane 1 according to the real-time spatial position information so that the hoisting operation can be completed more accurately. Compared with the need to manually judge the position of the tower crane 1, the control method of the present application can largely avoid the safety problems caused by the collision between the tower crane 1 and obstacles and improve the control efficiency.

In this way, at the first moment, after the control terminal 100 acquires the first position information of the first position and the second position information of the second position on the tower arm 12, it obtains the position of the tower arm 12 according to the first position information and the second position information. The pitch angle, and finally the spatial position information of the hook 14 is obtained according to the length and pitch angle of the tower arm 12, so as to control the state of the tower crane 1 according to the spatial position information of the hook 14. By obtaining the position information of two different positions on the tower arm 12 at the same time, the real-time pitch angle of the tower arm 12 can be obtained, and the real-time spatial position information of the hook 14 can be obtained by using the real-time pitch angle, so that the hoisting operation can be completed more accurately, and the control efficiency and efficiency can be improved. Reduce security risks.

Referring to FIG. 5, as an optional implementation manner, step S302 may include the following steps:

S501: Obtain the distance between the first location and the second location according to the longitude and latitude of the first location information and the longitude and latitude of the second location information;

The location information collected by the GNSS two-wire device 200 is expressed as coordinate information on the geocentric reference system. For example, please refer to FIG. 4 again, the location information at A at a certain moment is denoted as A(gax, gay, gaz) and the location information at B is denoted as B(gbx, gby, gbz). Among them, gax represents the latitude at A, gay represents the longitude at A, gaz represents the elevation at A, gbx represents the latitude at B, gby represents the longitude at B, and gbz represents the elevation at B.

During the luffing movement of the tower crane 1, firstly, the distance between different positions can be obtained according to the longitude and latitude of different positions on the tower arm 12 at a certain moment. Specifically, the longitude and latitude of different locations on the geocentric reference system are converted into corresponding values on the Y-axis and X-axis on the Cartesian coordinate system, and then combined with the vector formula to calculate the distance. For example, please refer to Figure 4 again, convert the longitude and latitude at A and B into the corresponding values on the Y-axis and X-axis on the Cartesian coordinate system, and then calculate the distance between A and B by combining the vector formula d.

S502: Obtain the elevation difference between the first location and the second location according to the elevation of the first location information and the elevation of the second location information;

Secondly, the elevation difference between different locations can be obtained according to the elevations of different locations on the tower arm 12 at a certain moment. Specifically, the elevation of different locations on the geocentric reference system is converted into the corresponding value on the Z axis on the Cartesian coordinate system, and then combined with the vector formula to calculate the elevation difference. For example, please refer to Fig. 4 again, convert the elevations at A and B into the corresponding values on the Z-axis on the Cartesian coordinate system, and then combine the vector formula to calculate the elevation difference h between A and B.

S503: Obtain the pitch angle of the tower arm 12 according to the distance and the elevation difference;

Finally, after calculating the distance d and the elevation difference h, the pitch angle α of the tower arm 12 can be obtained in combination with the following formula:

α＝sin ^-1 (h/d)

It can be understood that, according to the longitude, latitude and elevation of the first position and the second position on the tower arm 12 collected by the GNSS two-wire device 200, the pitch angle of the tower arm can be obtained.

In this way, the distance between the first location and the second location can be obtained according to the longitude and latitude of the first location information and the longitude and latitude of the second location information, and the distance between the first location and the second location can be obtained according to the elevation of the first location information and the elevation of the second location information The elevation difference between the first position and the second position, and finally the pitch angle of the tower arm 12 can be obtained according to the distance and the elevation difference.

Referring to FIG. 6, as an optional implementation, after step S301, the following steps may also be included:

S601: At the second moment, acquire the third position information of the first position and the fourth position information of the second position on the tower arm 12;

The second moment refers to a moment during the movement of the tower arm 12 that is different from the first moment, that is to say, the first moment and the second moment refer to two different moments during the movement of the tower arm 12 . At the second moment, the GNSS two-wire device 200 can collect the position information of the first position and the position information of the second position on the tower arm again, that is to say, the third position information refers to the first position information collected at the second moment. The location information of the location, the fourth location information refers to the location information of the second location collected at the second moment. For example, please refer to Fig. 7, during the process of rotating and moving the tower arm 12 around the tower body 11 (in the figure, T represents the tower body 11), the circle is the rotatable path at the top of the tower arm 12, and the GNSS two-wire device 200 measures Get the location information of A and B at a certain moment, that is, the location information of A ₁ and B ₁ in Figure 7, and then measure the location information of A and B at another time, that is, A in Figure 7 ₂ and B ₂ 's location information.

S602: Obtain the rotation angle of the tower arm 12 according to the first position information, the second position information, the third position information and the fourth position information;

The rotation angle of the tower arm 12 refers to the angle formed between the tower arm 12 at a certain moment and the tower arm 12 at another moment during the process of the tower arm 12 rotating around the tower body 11 . During the rotation and movement of the tower crane 1 , the control terminal 100 can calculate the real-time pitch angle of the tower arm 12 according to different position information on the tower arm 12 at different times. For example, please refer to FIG. 7 again, according to the position information of _A1 and _B1 and the position information of _A2 and _B2 , the real-time rotation angle β of the tower arm 12 during the entire rotation movement process is obtained.

S603: Obtain the spatial position information of the hook 14 according to the length and rotation angle of the tower arm 12, so as to control the state of the tower crane 1 according to the spatial position information of the hook 14.

When the tower crane 1 is rotating and moving, the control terminal 100 can obtain the real-time spatial position information of the hook 14 during the rotating movement according to the known length of the tower arm 12 and the real-time rotation angle combined with geometric formulas such as the Pythagorean theorem. The control terminal 100 uses the real-time spatial position information of the hook 14 as an operation basis for controlling the tower crane 1 , and then controls the state of the tower crane 1 .

It can be understood that at two moments during the rotation and movement of the tower arm 12, a position information acquisition device that can simultaneously obtain two different positions on the tower arm 12 by installing on the tower arm 12, such as a GNSS two-wire device 200, controls The terminal 100 can calculate the real-time rotation angle of the tower arm 12, and the real-time spatial position information of the hook 14 can be obtained by using the real-time rotation angle. Then, the control terminal 100 controls the PLC controller 110 of the tower crane 1 according to the real-time spatial position information (in FIG. 10 shown) so that the hoisting operation can be completed more accurately. Compared with the need to manually judge the position of the tower crane 1, the control method of the present application can largely avoid the safety problems caused by the collision between the tower crane 1 and obstacles and improve the control efficiency.

In this way, at the second moment, after the control terminal 100 acquires the third position information of the first position on the tower arm 12 and the fourth position information of the second position, then according to the first position information, the second position information, the third position information and the fourth position information to obtain the rotation angle of the tower arm 12, and finally obtain the spatial position information of the hook 14 according to the length and rotation angle of the tower arm 12, so as to control the state of the tower crane 1 according to the spatial position information of the hook 14. The real-time rotation angle of the tower arm 12 is obtained by obtaining the position information of two different positions on the tower arm 12 at the first moment and the second moment respectively, and the real-time spatial position information of the hook 14 can be obtained by using the real-time rotation angle, which can be more accurate Complete hoisting operations efficiently, improve control efficiency and reduce potential safety hazards.

Please refer to FIG. 8, as an optional implementation manner, step S602 may also include:

S801: Obtain a first slope according to the first position information and the second position information;

In the process of rotating and moving the tower crane 1, firstly, the first slope is obtained according to different positions on the tower arm 12 at a certain moment. For example, referring to Fig. 7 again, the position information at A on the tower arm 12 at a certain moment is recorded as A ₁ (ga _x1 , ga _y1 , ga _z1 ), and the position information at B is recorded as B ₁ (gb _x1 , gb _y1 , gb _z1 ), transform the coordinates of A ₁ and B ₁ in the geocentric reference system into the coordinates of the Cartesian coordinate system, and then combine the vector formula to calculate the slope K ₁ .

S802: Obtain a second slope according to the third position information and the fourth position information;

Secondly, the second slope is calculated according to different positions on the tower arm 12 at another time. For example, if the position information at A and B at another time is measured, the position information at A at this time is recorded as A ₂ (ga _x2 , ga _y2 , ga _z2 ), and the position information at B is recorded as B ₂ (gb _x2 , gb _y2 , gb _z2 ), convert the coordinates of A ₂ and B ₂ on the geocentric reference system to the coordinates on the Cartesian coordinate system, and then combine the vector formula to calculate the slope K ₂ .

S803: Obtain the rotation angle of the tower arm 12 according to the first slope and the second slope.

Finally, the rotation angle β of the tower arm 12 is obtained according to the slope K1 and the slope K2 in combination with the following formula:

β＝tan ^-1 [|(K2-K1)/(1+K2K1)|]

It can be understood that at any two moments during the rotation and movement of the tower arm 12, according to the longitude, latitude and elevation of the first position and the second position on the tower arm 12 collected by the GNSS two-wire device 200, the tower arm 12 can be obtained. the rotation angle.

In this way, the first slope can be obtained according to the first position information and the second position information, the second slope can be obtained according to the third position information and the fourth position information, and the rotation angle of the tower arm 12 can be obtained according to the first slope and the second slope .

Please refer to Fig. 9, as an optional implementation manner, the tower crane control method may also include:

S901: Obtain the spatial position information of the hook 14 according to the length, rotation angle and pitch angle of the tower arm 12, so as to control the state of the tower crane 1 according to the spatial position information of the hook 14.

When the tower crane 1 performs rotational movement and luffing movement at the same time, the control terminal 100 can obtain the real-time space of the hook 14 during the movement process based on the known geometric formulas such as the length of the tower arm 12 and the pitch angle and rotation angle combined with the Pythagorean theorem. location information.

It can be understood that without installing too many sensors, the pitch angle and rotation angle of the tower crane 1 can be calculated at the same time, so that the real-time spatial position and real-time spatial position information of the hook 14 can be obtained, and then the tower crane 1 can be accurately controlled to carry out corresponding adjustments. operation, reduce costs, improve control efficiency, and simplify control systems.

In this way, the spatial position information of the hook 14 is obtained according to the length, rotation angle, and pitch angle of the tower arm 12, so that the state of the tower crane can be controlled according to the spatial position information of the hook 14, and it can be calculated at the same time without installing too many sensors. The pitch angle and rotation angle of the tower crane 1, so that the real-time spatial position information of the hook 14 can be obtained, and then the tower crane 1 can be accurately controlled to perform corresponding operations, reducing costs, improving control efficiency, and simplifying the control system.

Please refer to FIG. 10 . FIG. 10 is a schematic diagram of a system block diagram of a tower crane system 1000 according to an embodiment of the present application. The present application also provides a tower crane system 1000. The tower crane control system 1000 includes a control terminal 100, a GNSS two-wire device 200 and a tower crane PLC. The controller 110, the GNSS two-wire device 200 is installed on the tower arm 12, and the first antenna 220 and the second antenna 220 of the GNSS two-wire device 200 are respectively installed on the first position and the second position of the tower arm 12 for collecting the first location information and second location information, and send the location information to the control terminal 100. The control terminal 100 can implement all or part of the tower crane control method of this application, that is, use the position information to calculate the real-time pitch angle and real-time rotation angle, and then calculate the real-time spatial position information of the hook 14, and according to the real-time spatial position information of the hook 14 The generated control command is sent to the PLC controller 110 of the tower crane to precisely control the state of the tower crane 1 .

In this way, the control terminal 100 uses the GNSS two-wire device 200 to calculate the real-time pitch angle and real-time rotation angle, and can calculate the real-time spatial position information of the hook 14 and then accurately control the state of the tower crane 1, so that the tower crane driver can realize remote and accurate control of the tower crane 1. Control to reduce potential safety hazards. The control terminal 100 is independently connected to the tower crane control system 1000 to realize intelligent applications and have the ability to expand the system.

As an optional implementation, the tower crane control system 1000 also includes a signal conversion module 310A, a signal conversion module 310B, and communication terminals 320A and 320B, (hereinafter, the signal conversion module 310 may refer to the signal conversion module 310A, or may refer to the signal conversion module 310B, the communication terminal 320 may refer to the communication terminal 320A, or may refer to the signal conversion module 310B). The signal conversion module 310 can include a module composed of a controller area network (Controller Area Network, CAN) to IO submodule and an Ethernet to CAN submodule, and the communication terminal 320A or 320B can be a wireless bridge module or adopt the fifth generation Mobile communication technology (5th-Generation Mobile Communication Technology, 5G) router (Customer Premise(s) Equipment, CPE), that is, 5GCPE, etc. The control terminal 100 is signal-connected with each controlled device through the signal conversion module 310 and/or the communication terminal 320, and the controlled device includes the PLC controller 110 of the tower crane 1 air cockpit, the industrial computer 700, the console 400 and the face recognition terminal 900 etc. In this way, the control terminal 100 can be independently connected with the tower crane control system 1000, intelligent application can be realized, and the system can be expanded.

The tower crane control system 1000 also includes a console 400, which is installed in the cockpit on the ground, and the console 400 sends an analog signal, which is sent to the control terminal 100 in the air cockpit through the signal conversion module and the communication terminal, and the control terminal 100 After receiving the analog signal, a corresponding control instruction is generated, and the PLC controller 110 is controlled to control the movement of the tower crane 1 .

In an example, the console 400 can be installed in the cockpit on the ground. Specifically, the console 400 integrates control devices such as handles, buttons, switches, etc., and simulates the console of the real tower crane 1 aerial cockpit one-to-one. The tower crane driver can control the state of the tower crane 1 through the console in the cockpit on the ground. For example, the driver of the tower crane moves the handle on the console 400 in the cockpit on the ground, and the console 400 sends an analog signal corresponding to the operation. The analog signal passes through the signal conversion module 310 and The communication terminal 320 sends it to the control terminal 100 in the air cockpit. After receiving the analog signal, the control terminal 100 generates a corresponding control command and controls the PLC controller 110 to move the tower crane 1 according to the moving direction of the handle. Wherein, the control terminal 100 is connected in parallel with the switch signal of the handle of the air cockpit to realize the control of the PLC controller 110 of the tower crane 1 air cockpit. Through the non-destructive modification of the PLC controller 110 in the tower crane 1 , the console 400 in the cockpit on the ground can be adapted to different types of tower cranes 1 .

It can be understood that the console 400 is installed in the cockpit on the ground to simulate the control console of the real tower crane 1 air cockpit one-to-one, and by sending an analog signal to the control terminal 100 to control the PLC controller 110 to control the movement of the tower crane 1, it can make The tower crane driver can realize remote and precise control of the tower crane 1 on the ground without entering the cockpit in the air, reducing potential safety hazards. All the operating instructions of the tower crane 1 are simulated in the cockpit on the ground, and the real-time remote control of the tower crane 1 in the air is realized through the high-speed and low-delay communication terminal 320, which solves the transfer of the control room of the tower crane 1 and enables the tower crane driver to control the tower crane 1 regardless of geographical location. Environmental constraints make it possible for a ground cockpit to switch and control different tower cranes 1. The control terminal 100 is independently connected to the tower crane control system 1000 to realize intelligent applications and have system expansion capabilities.

In this way, the control terminal 100 uses the GNSS two-wire device 200 to obtain the real-time pitch angle and real-time rotation angle, and can calculate the real-time spatial position information of the hook 14 to accurately control the state of the tower crane 1 . Install the console 400 in the cockpit on the ground and simulate the control console of the real tower crane 1 air cockpit one by one. By sending an analog signal to the control terminal, the PLC controller is controlled to control the movement control of the tower crane 1, so that the tower crane driver is on the ground. It can realize the remote and precise control of the tower crane 1 and reduce potential safety hazards. The control terminal 100 is independently connected with the tower crane control system 1000 to realize intelligent application and have the ability to expand the system.

As an optional implementation manner, the tower crane control system 1000 further includes a visualization device, which includes a video acquisition terminal 510 , a decoder 520 , a video splicing processing terminal 530 and a video display terminal 540 . The video acquisition terminal 510 collects the image of the target operation area to form the video data, and transmits the image to the decoder 520 for decoding, and the decoder 520 transmits the decoded data to the video splicing processing terminal 530, and the video splicing processing terminal 530 splices the data, After the image is restored, video data is formed, and the video is sent to the video display terminal 540 . The video display terminal 540 combines low-latency real-time playback technology or cloud real-time playback technology to display video images formed by video data. The video acquisition terminal 510 includes multiple cameras, and the video display terminal 540 includes multiple display terminals, for example, the display terminals are display screens. The target operating area includes the operating area of the hook 14, the visual blind area of the target object placement area, etc. That is to say, the target operating area can be set according to the developer. For example, after multiple cameras collect the images of the 14th area of the hook, the video data formed by the image is sent to the display terminal in the ground cockpit for display through the low-latency real-time playback technology, so that the tower crane driver in the ground cockpit can watch the hook 14 The scene of the operation area provides the basis for the operation of the tower crane driver in the cockpit on the ground. At the same time, the video data can also be sent to the display screen of the aerial cockpit through the cloud real-time playback technology to provide operation basis for the tower crane driver in the aerial cockpit. At the same time, the video data can also be sent to the display terminal in the monitoring room through the cloud real-time playback technology, so as to provide a basis for monitoring by the monitoring personnel in the monitoring room. Wherein, the data may be transmitted through the communication terminal 320 .

The video acquisition terminal 510 may also send the acquired video data of the target area to the control terminal 100 . The control terminal 100 remotely controls the state of the tower crane 1 according to the spatial position information of the hook 14 obtained by combining the target data.

It can be understood that the control terminal 100 is connected with the visualization device, combined with the low-latency real-time playback technology, can provide the video of the target area for the tower crane driver in the ground cockpit, and provide the basis for the tower crane driver or other personnel in the ground cockpit to operate or Make up the visual blind area, so as to realize the remote and precise control of the tower crane 1.

In this way, the control terminal is connected with the visualization device, combined with the low-latency real-time playback technology, it can provide users with a basis for operation or make up for visual blind spots, so as to realize remote and precise control of the tower crane 1.

As an optional implementation, the tower crane control system 1000 further includes a sensing device 600, which may include a tower body 11 inclination sensor, a tower arm 12 inclination sensor and/or a hook 14 positioning terminal. The sensing device 600 is connected to the control terminal 100 by signals. The tower body 11 inclination sensor can be installed on the tower body 11 to collect the inclination angle of the tower body 11 and send it to the control terminal 100. The control terminal 100 remotely controls the state of the tower crane 1 according to the inclination angle of the tower body 11 and the spatial position information of the hook 14 . The control terminal 100 can also compare the inclination angle of the tower body 11 with a preset safe inclination angle threshold. When the inclination angle of the tower body 11 exceeds the safe inclination angle threshold, a warning is issued, indicating that there is a potential safety hazard.

The tower arm inclination sensor is installed on the tower arm 12 and can collect the inclination angle of the tower arm 12 and send it to the control terminal 100 . When obtaining the pitch angle obtained by the GNSS two-line device 200 through RTK, when the calculated pitch angle is about 60° to 85°, the pitch angle of the tower arm 12 collected by the tower arm tilt sensor can be used to correct the calculated pitch angle , that is, the calculated pitch angle is corrected by the compensated pitch angle collected by the tower arm tilt sensor, so as to improve the accuracy of the pitch angle. Similarly, the control terminal 100 can also compare the inclination angle of the tower arm 12 with a preset safe inclination angle threshold, and when the inclination angle of the tower arm 12 exceeds the safe inclination angle threshold, a warning is issued, indicating that there is a potential safety hazard.

When the hook 14 can move on the tower arm 12 , the hook positioning terminal is installed on the hook 14 to collect the positioning information of the hook 14 .

Understandably, the pitch angle and rotation angle of the tower arm 12 obtained by the GNSS two-wire equipment 200 through RTK combined with various data collected by the sensor device 600 can draw the working range of the tower crane 1 to realize the anti-collision function of the tower arm 12 . The control terminal 100 is connected with the low-latency visualization device and the sensing device 600 to provide operation basis for the tower crane driver or other personnel in the cockpit on the ground, so as to realize remote and precise control of the tower crane 1 .

In this way, according to the GNSS two-wire equipment, the pitch angle and rotation angle of the tower arm 12 obtained through RTK combined with various data collected by the sensor device, the working range of the tower crane 1 can be drawn to realize the anti-collision function of the tower arm 12 . The control terminal is connected with the low-latency visualization device and the sensor device signal, which can provide the basis for the operation of the tower crane driver or other personnel in the ground cockpit, so as to realize the remote and precise control of the tower crane 1.

As an optional implementation manner, the tower crane control system 1000 also includes an industrial computer 700 , and the signal connection between the industrial computer 700 and the control terminal 100 . After the user performs the operation of starting the tower crane control system 1000, after the control terminal 100 obtains the hoisting point confirmed by the user, the industrial computer 700 sends the control authority of the tower crane 1 at the hoisting point to the control terminal 100, so that the tower crane driver can control the hoisting point through the control terminal 100 Tower crane 1 at the hoisting point. The tower crane control system 1000 also includes a model display terminal 800 signal-connected to the industrial computer 700 . After the industrial computer 700 receives the control command sent by the control terminal 100 to control the tower crane 1 , it generates a tower crane model according to the control command, and displays the tower crane model on the model display terminal 800 connected to the industrial computer 700 . Among them, the user may be a tower crane driver, a signalman, and the like.

It can be understood that the industrial computer 700 sends the control authority of the tower crane 1 to the control terminal 100, so that the control terminal 100 can control the corresponding tower crane 1, so that one ground cockpit can control different tower cranes 1 . The tower crane model is also displayed through the model display terminal 800 signal-connected with the industrial computer 700 , thereby visually showing the real-time status of the tower crane 1 .

In this way, the industrial computer sends the control authority of the tower crane 1 to the control terminal, so that the control terminal can control the corresponding tower crane 1, so that one ground cockpit can control different tower cranes 1 . The tower crane model is also displayed through the model display terminal connected with the industrial computer signal, thereby showing the real-time status of the tower crane 1 vividly.

As an optional implementation manner, the tower crane control system 1000 further includes a face recognition terminal 900 , and the face recognition terminal 900 is signal-connected to the industrial computer 700 . The face recognition terminal 900 can compare the user's face image with the pre-stored image information by collecting the user's face image. When the similarity meets the preset range, it can judge that the user has operation authority and send a production confirmation signal to the industrial computer 700 to start the industrial computer. Machine 700. The face recognition terminal 900 can recognize the user's face from time to time during the entire hoisting operation. When the collected user's face image is compared with the pre-stored image information, and the similarity does not meet the preset range, it can send a prohibition message. The signal is sent to the industrial computer 700, and the industrial computer 700 can suspend operation or close the working state.

Understandably, through the face recognition terminal 900, the authorization of the remote operation of the tower crane 1 is realized, and the face is dynamically recognized during the operation, which avoids the situation of changing people midway and ensures the consistency of man and machine.

In this way, through the face recognition terminal, the authorization of the remote operation of the tower crane 1 is realized, and the face is dynamically recognized during the operation, which avoids the situation of changing people midway and ensures the consistency of man and machine.

Please refer to FIG. 11 , the following uses a hoisting operation as an example to illustrate the steps of cooperation between the face recognition terminal 900 and the industrial computer 700 in the tower crane control system 1000 of the present application:

In response to the user's face recognition operation, the face recognition terminal 900 determines that the user has the operation authority, and sends a confirmation signal to start the industrial computer 700 . The industrial computer 700 sends a start signal to the visualization device, the communication terminal 320 and the PCL controller in the tower crane 1, so that the connection of the visualization device, the self-check of the communication link and the status of the tower crane 1 are completed. Next, the industrial computer 700 responds to the signalman determining a certain hoisting point through the control terminal 100, and sends to the control terminal 100 the control authority of the tower crane 1 at the hoisting point, so that the tower crane driver can remotely control the tower crane at the hoisting point through the control terminal 100 1. For example, the tower crane driver operates the console in the cockpit on the ground, controls the tower arm to perform luffing movement and/or rotation movement, and controls the hook 14 to move up and down. After the suspension hook 14 of the tower crane 1 moves to the hoisting point, the hooker hangs the object on the suspension hook 14 . In response to the operation of the signalman confirming the unloading point, the control terminal 100 remotely controls the tower crane 1 to move to the unloading point again, and the unloading operator unloads the object.

Referring to FIG. 12 , an example is used below to illustrate the steps of the control terminal 100 of the present application performing a security mechanism check on the control system 1000 .

In response to starting the operation of the tower crane control system 1000, the control terminal 100 detects the communication status of the system. If the redundant communication switching is not performed, the control terminal 100 stops working. If the redundant communication switching has been performed, the logic detection of the control command is further performed. If the control command does not conform to the safety mechanism, a warning is issued, and if the control command conforms to the safety mechanism, further overweight detection is carried out. If the weight of the object on the hook 14 exceeds the warning level, a warning is issued, otherwise the sensing data collected by the sensing device 600 is further detected, if the sensing data does not meet the corresponding safety range, a warning is issued, and if it is met, further detection The distance between the tower crane 1 and the electronic fence, if the distance does not meet the safety distance, stop working, if it meets the safety distance, then further detect the distance between the tower arm 12 and the surrounding obstacles, if it meets the safety range, then complete the safety mechanism detection, if If it does not meet the safety range, stop working.

Please refer to FIG. 13 , which is a schematic structural diagram of a control terminal 100 provided in an embodiment of the present application. In one embodiment, the control terminal 100 includes a memory 101 and at least one processor 102 . Those skilled in the art should understand that the structure of the control terminal 100 shown in FIG. 11 does not constitute a limitation to the embodiment of the present application. The control terminal 100 may also include more or less other hardware or software than shown in the illustration, or different Part placement.

As an optional implementation, the control terminal 100 includes a terminal that can automatically perform numerical calculation and/or information processing according to preset or stored instructions, and its hardware includes but not limited to microprocessors, dedicated Integrated circuits, programmable gate arrays, digital processors and embedded devices, etc. As an optional implementation manner, the memory 101 is used to store program codes and various data. Described memory 101 can comprise read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), programmable read-only memory (Programmable Read-Only Memory, PROM), erasable programmable read-only memory Memory (Erasable Programmable Read-Only Memory, EPROM), One-time Programmable Read-Only Memory (OTPROM), Electronically Erasable Programmable Read-Only Memory (EEPROM) ), CD-ROM (Compact Disc Read-Only Memory, CD-ROM) or other optical disk storage, magnetic disk storage, tape storage, or any other computer-readable medium that can be used to carry or store data.

As an optional implementation manner, the at least one processor 102 may include an integrated circuit, for example, may include a single packaged integrated circuit, or may include multiple integrated circuits packaged with the same function or different functions, including a microprocessor, Combination of digital processing chips, graphics processors and various control chips, etc. The at least one processor 102 is the control core (Control Unit) of the controller, by running or executing the program or module stored in the memory 101, and calling the data stored in the memory 101 to perform Various functions of the terminal 100 are controlled and data is processed. The above-mentioned integrated units implemented in the form of software function modules can be stored in a computer-readable storage medium. The above-mentioned software function modules are stored in a storage medium, and include several instructions to make a computer device (which may be a personal computer, a terminal, or a network device, etc.) or a processor (processor) execute the methods described in various embodiments of the present application. part. Program codes are stored in the memory 101 , and the at least one processor 102 can invoke the program codes stored in the memory 101 to perform related functions. In one embodiment of the present application, the memory 101 stores a plurality of instructions, and the plurality of instructions are executed by the at least one processor 102 to implement the above tower crane control method. Specifically, for the specific implementation method of the above instruction by the at least one processor 102, reference may be made to the description of relevant steps in the corresponding implementations in FIG. 3 , FIG. 5 , FIG. 6 , FIG. 8 and FIG.

The embodiment of the present application also provides a storage medium. Wherein, the storage medium stores computer instructions, and when the instructions are run on the computing device, the computing device can execute the pendant control method provided in the foregoing embodiments.

Those skilled in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present application. Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method implementation, and will not be repeated here. In the several implementation manners provided in this application, it should be understood that the disclosed systems, devices and methods may be implemented in other ways. For example, the device implementation described above is only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist separately physically, or two or more units may be integrated into one unit. The preferred implementation mode of the application and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present application has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, all of which belong to protection scope of the present invention.

Claims (12)

1. A method of controlling a tower crane, the tower crane comprising a tower arm and a hook, the method comprising:

acquiring first position information of a first position and second position information of a second position on the tower arm at a first moment;

obtaining a pitch angle of the tower arm according to the first position information and the second position information;

and obtaining the space position information of the lifting hook according to the length of the tower arm and the pitch angle, so as to control the state of the tower crane according to the space position information of the lifting hook.

2. The tower crane control method according to claim 1, wherein the obtaining the pitch angle of the tower arm according to the first position information and the second position information includes:

obtaining a distance between the first position and the second position according to the longitude and the latitude of the first position information and the longitude and the latitude of the second position information;

obtaining the elevation difference between the first position and the second position according to the elevation of the first position information and the elevation of the second position information;

and obtaining the pitch angle of the tower arm according to the distance and the elevation difference.

3. The tower crane control method according to claim 1, wherein the step of acquiring the first position information of the first position and the second position information of the second position on the tower arm at the first time further comprises:

At a second moment, acquiring third position information of the first position and fourth position information of the second position on the tower arm;

obtaining a rotation angle of the tower arm according to the first position information, the second position information, the third position information and the fourth position information;

and obtaining the space position information of the lifting hook according to the length of the tower arm, the pitch angle and the rotation angle.

4. The tower crane control method according to claim 3, wherein the obtaining the rotation angle of the tower arm from the first position information, the second position information, the third position information, and the fourth position information includes:

obtaining a first slope according to the first position information and the second position information;

obtaining a second slope according to the third position information and the fourth position information;

and obtaining the rotation angle of the tower arm according to the first slope and the second slope.

5. A tower crane control system for controlling a tower crane, the tower crane comprising a tower arm and a hook, the tower crane control system comprising: the control terminal is provided with a control unit,

the control terminal is used for:

Acquiring the first position information of a first position and the second position information of a second position on the tower arm at a first moment;

obtaining a pitch angle of the tower arm according to the first position information and the second position information;

and obtaining the space position information of the lifting hook according to the length of the tower arm and the pitch angle, so as to control the state of the tower crane according to the space position information of the lifting hook.

6. The tower control system of claim 5, further comprising a programmable logic controller,

the programmable logic controller is used for receiving a control instruction generated by the control terminal through the space position information of the lifting hook and controlling the state of the tower crane according to the control instruction.

7. The tower crane control system according to claim 5, wherein the control terminal is further configured to obtain a distance between the first location and the second location according to the longitude and latitude of the first location information and the longitude and latitude of the second location information;

obtaining the elevation difference between the first position and the second position according to the elevation of the first position information and the elevation of the second position information;

And obtaining the pitch angle of the tower arm according to the distance and the elevation difference.

8. The tower crane control system according to claim 5, wherein the control terminal is further configured to obtain third position information of the first position and fourth position information of the second position on the tower arm at a second moment;

obtaining a rotation angle of the tower arm according to the first position information, the second position information, the third position information and the fourth position information;

and obtaining the space position information of the lifting hook according to the length of the tower arm, the pitch angle and the rotation angle.

9. The tower crane control system according to claim 5 or 8, further comprising a position information acquisition device,

the position information acquisition device is used for acquiring the first position information and the third position information of the first position and the second position information and the fourth position information of the second position on the tower arm.

10. The tower crane control system of claim 9, wherein the control terminal is further configured to obtain a first slope according to the first location information and the second location information;

Obtaining a second slope according to the third position information and the fourth position information;

and obtaining the rotation angle of the tower arm according to the first slope and the second slope.

11. A control terminal, characterized in that it comprises a processor and a memory, in which a computer program is stored, which computer program, when being executed by the processor, implements the tower crane control method according to any of claims 1-4.

12. A computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements a tower crane control method according to any of claims 1-4.