CN108483262A - A kind of tower crane and its control system - Google Patents
A kind of tower crane and its control system Download PDFInfo
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- CN108483262A CN108483262A CN201810750547.1A CN201810750547A CN108483262A CN 108483262 A CN108483262 A CN 108483262A CN 201810750547 A CN201810750547 A CN 201810750547A CN 108483262 A CN108483262 A CN 108483262A
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- tower crane
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- 238000010276 construction Methods 0.000 claims abstract description 50
- 239000000725 suspension Substances 0.000 claims description 13
- 230000002159 abnormal effect Effects 0.000 claims description 4
- 230000001960 triggered effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 5
- 230000000875 corresponding effect Effects 0.000 description 11
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000000284 resting effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000009411 base construction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a kind of tower crane control systems, are applied to tower crane, including be set to image collecting device on tower crane, for obtaining construction site video information；It is set to the sensor of operating parameter on tower crane, for obtaining tower crane；With tower crane split settings, terminal device for being shown to construction site video information and operating parameter；The control device acted accordingly is executed for the drive system according to control instruction remote control tower crane input by user；Construction site video information and operating parameter the input control instruction that user is shown based on terminal device.The application can make the driver of tower crane complete the driving to tower crane on the ground, reduce working strength, save human resources, and the personal safety of staff is largely made to be protected.In addition, present invention also provides a kind of tower crane, there is above-mentioned identical advantageous effect.
Description
Technical field
The present embodiments relate to tower crane technical fields, more particularly to a kind of tower crane and its control system.
Background technology
Tower crane is also referred to as derrick crane, is a kind of typical electromechanical integrated product.With China's urban internationalization and
The construction of rural urbanization persistently promotes, and the construction of a large amount of skyscrapers brings opportunity to the rapid development of tower crane industry.Tower crane
Because of the advantages such as its complete machine fuselage is high, sling height is big, become a kind of essential important equipment of construction site.
Usually 2 or 3 staff are needed to cooperate when driving tower crane and fulfiling assignment, wherein a staff
It needs to drive the rising and falling of tower crane, amplitude variation and rotation tower wall, a staff in tower crane cab and refer to below tower crane hook
Wave tower crane and how smoothly to hang up substance, another staff commanded on building tower crane how matter transportation to specified
Position, driver needs in real time to observe the case where construction site during driving tower crane, it is also necessary to and on ground
Other commandings cooperate can just fulfil assignment.In addition, belonging to high-altitude dangerous operation, working strength due to driving tower crane
Greatly, safety accident consequence and once occurs can be very serious, prevents the personal safety of driver from being protected.
In consideration of it, how to provide it is a kind of solve above-mentioned technical problem tower crane and its control system become people in the art
Member's problem to be solved.
Invention content
The purpose of the embodiment of the present invention is to provide a kind of tower crane control system, can make the driving of tower crane in use
Member completes the driving to tower crane on the ground, reduces working strength, has saved human resources, and largely make work
The personal safety for making personnel is protected.In addition, present invention also provides a kind of tower crane, there is above-mentioned identical advantageous effect.
In order to solve the above technical problems, an embodiment of the present invention provides a kind of tower crane control system, it is applied to tower crane, packet
It includes：
It is set to image collecting device on tower crane, for obtaining construction site video information；
It is set to the sensor of operating parameter on the tower crane, for obtaining the tower crane；
With the tower crane split settings, for being shown to the construction site video information and the operating parameter
Terminal device；
It is acted accordingly for the drive system execution according to tower crane described in control instruction remote control input by user
Control device；The construction site video information and operating parameter that the user is shown based on the terminal device input the control
Instruction.
Optionally, further include being set for the construction site video information and the operating parameter to be transmitted to the terminal
The standby radio transmitting device.
Optionally, the terminal device is specifically used for carrying out image procossing to the construction site video information, and will place
Construction site video information after reason carries out multi-section display.
Optionally, further include the warning device being connect with the control device；
The control device is additionally operable to obtain the operating parameter, and is carried out to the operating parameter according to predetermined threshold value
It analyzes, triggering the warning device when the operating parameter exception sends out alarm prompt.
Optionally, the warning device is buzzer.
Optionally, the control device is additionally operable to control the tower crane in the operating parameter exception out of service.
Optionally, the sensor includes height sensor, aspect sensor, air velocity transducer, weight sensor and change
Width sensor.
Optionally, described image harvester includes the main suspension hook for being respectively arranged at the tower crane, former driver's cabin and tower arm
On the first camera, second camera and third camera.
Optionally, the control instruction is what the user was inputted by remote controler.
The embodiment of the present invention additionally provides a kind of tower crane, including tower crane ontology and for it is that the tower crane is controlled,
Tower crane control system as described above.
An embodiment of the present invention provides a kind of tower crane control systems, are applied to tower crane, including：It is set on tower crane, use
In the image collecting device for obtaining construction site video information；It is set to operating parameter on tower crane, for obtaining tower crane
Sensor；With tower crane split settings, terminal device for being shown to construction site video information and operating parameter；With
The control device acted accordingly is executed in the drive system according to control instruction remote control tower crane input by user；User's base
Construction site video information and operating parameter the input control instruction shown in terminal device.
As it can be seen that the tower crane control system in the application can acquire construction site video information and the operating parameter of tower crane,
And construction site video information and operating parameter are sent on terminal device and shown, since terminal device and tower crane are point
Body design, the place waited checked convenient for staff on the ground can be arranged in terminal device, and staff can be according to end
The operating parameter of construction site video information and tower crane that end equipment is shown sees the operating status of construction site and tower crane
It examines, and is acted accordingly by the drive system of control device control tower crane, to make tower crane to fulfil assignment.The application
The driver of tower crane can be made to complete the driving to tower crane on the ground, reduce working strength, saved human resources, and
The personal safety of staff is largely set to be protected.In addition, present invention also provides a kind of tower crane, have above-mentioned
Identical advantageous effect.
Description of the drawings
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to institute in the prior art and embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of structural schematic diagram of tower crane control system provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of another tower crane control system provided in an embodiment of the present invention；
Fig. 3 is sensor distribution schematic diagram provided in an embodiment of the present invention.
Specific implementation mode
An embodiment of the present invention provides a kind of tower crane control systems, the driver of tower crane can be made on ground in use
The driving to tower crane is completed on face, is reduced working strength, has been saved human resources, and largely make staff
Personal safety be protected.In addition, present invention also provides a kind of tower crane, there is above-mentioned identical advantageous effect.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Fig. 1 is please referred to, Fig. 1 is a kind of structural schematic diagram of tower crane control system provided in an embodiment of the present invention.
The tower crane control system is applied to tower crane comprising：
It is set to image collecting device 1 on tower crane, for obtaining construction site video information；
It is set to the sensor 2 of operating parameter on tower crane, for obtaining tower crane；
With tower crane split settings, terminal device 3 for being shown to construction site video information and operating parameter；
For hanging the control for executing and acting accordingly according to the drive system of control instruction remote control tower input by user
Device 4；Construction site video information and operating parameter the input control instruction that user is shown based on terminal device 3.
It should be noted that the 1 collected construction site video information of institute of image collecting device should include object to be moved
Location information, appointed place location information and main suspension hook position, so that staff is according to the position of object to be moved
Information is moved to by the main suspension hook that control device control tower is hung at the position where object to be moved, and by object to be moved
It is moved to appointed place.Wherein, driver in the prior art is when the driver's cabin on tower crane drives tower crane, due to it
Scope of activities it is limited, so visual angle has certain limitation, and the acquisition range phase of the image collecting device 1 in the application
Than in more extensive, the construction site video acquired that in the original of tower crane drives indoor angular field of view of driver in the prior art
Information is more more accurate than what eye-observation arrived, is conducive to lock object to be moved in time, and to be moved in control tower crane movement
Remote control personnel can also have found obstacle according to the construction site video information of 3 real-time display of terminal device during object
Object, and the timely avoidance of remote control tower crane are moved to appointed place safely, quickly by object to be moved.
In addition, the operating parameter that sensor 2 is acquired includes the operating parameters such as height, orientation, wind speed, weight and/luffing.
Remote control personnel can currently answer according to the construction site video information of 3 real-time display of terminal device and operating parameter to determine
How tower crane is adjusted, and the control to tower crane is realized by control device 4.Specifically, the work people resting on the ground
Member can be instructed by input controls such as remote controler, keyboards, and control device 4 sends driving instruction after receiving the control instruction
Drive system for the drive system (such as PLC drive systems) of tower crane, tower crane can drive according to the driving instruction received
It moves corresponding motor to correspondingly rotate, to drive the moving structure on tower crane to execute corresponding action, such as realizes tower
The actions such as the lifting of hook, the variation of amplitude and the rotation at any angle of tower arm make tower crane complete corresponding operation.
Specifically, the control device 4 in the application can emit driving of the driving instruction to tower crane by wireless transmitter
The drive system of system, tower crane can receive corresponding driving instruction by wireless receiver.
It should be pointed out that the terminal device 3 in the application is not set with tower crane split settings namely terminal device 3
It sets on tower crane, but can be configured according to user demand, facilitate user to watch, for example, the terminal in the application
Equipment 3 can be arranged in the control station on ground, wherein terminal device 3, which is specifically as follows computer, mobile phone etc., can show video
The equipment of image.Staff can be allow to complete the control to tower crane on ground by the tower crane control system, be not necessarily to work
Make personnel's tower crane up and down, reduces work difficulty and workload.
Further, which further includes for construction site video information and operating parameter to be transmitted to end
The radio transmitting device 5 of end equipment 3.Specifically please refer to Fig. 2.
It should be noted that image collecting device 1 in the application is by the collected construction site video information of institute and a biography
2 collected operating parameter of sensor can be transmitted to by radio transmitting device 5 on terminal device 3, wherein wireless transmission dress
It may include video image 5.2G Wireless Transmitters to set 5.
Further, image collecting device 1 includes in the main suspension hook for being respectively arranged at tower crane, former driver's cabin and tower arm
First camera, second camera and third camera.
It should be noted that the image collecting device 1 in the application is mainly by obtaining under former under-cab and tower arm
The corresponding video image in region below square and main suspension hook, it is possible to one preferably be arranged at main suspension hook vertically downward
First camera of shooting, the first camera can obtain the video image information in main suspension hook downward vertical region, so as to
Enough make staff that quickly main suspension hook is moved at object to be moved according to image information.The third camera shooting being set in tower arm
Head can be arranged in the end of tower arm, and the shooting angle of third camera and the second camera for being set to former driver's cabin is mutual
It mends, such as the shooting direction of the shooting direction position lower left of another second camera, another third camera is lower right, makes second to take the photograph
As the coverage of head and third camera includes main suspension hook position, can also be regarded by what second camera acquired
Frequency image information and the video information of third camera acquisition accurately determine the position of main suspension hook, so that staff passes through control
The drive system that device 4 processed controls tower crane controls main suspension hook movement.
Certainly, it can be also provided with corresponding camera at other positions of tower crane according to actual conditions in practical applications,
To obtain the construction site video image information in more wide view, as long as the staff resting on the ground can be made to pass through
The construction site video image information that terminal device 3 is shown determines the location information of each significant points, and realizes and controlling
The object it can clearly be observed that appearance of mobile route attachment is made when moving object to be moved, and takes and timely hides, with
Just occur unexpected.
Further, terminal device 3 are specifically used for carrying out image procossing to construction site video information, and will processing
Construction site video information afterwards carries out multi-section display.
Specifically, in order to obtain the construction site video image information in big angular field of view, multiple cameras can be passed through
Subregion is acquired, and the construction site situation in each region, this Shen are observed by terminal device 3 for the ease of staff
Please in terminal device 3 to construction site video information carry out multi-section display, can specifically divide each region in advance, to
The construction site video information acquired according to each camera carries out multi-section display according to the region divided in advance.
Further, receiving construction site video information in terminal device 3 can also be to the construction site video information
Image procossing is carried out, specifically characteristics extraction can be carried out to construction site video information using mathematical, boundary is advised
Draw, the auxiliary informations processing such as maximum feature highlights, and will treated that construction site video information carries out multi-section display, with
Just staff more accurately identifies target object (such as main suspension hook, object to be moved from the image that terminal device 3 is shown
Body, the place referred to, barrier etc.).
Further, sensor 2 includes height sensor, aspect sensor, air velocity transducer, weight sensor and luffing
Sensor.
Specifically, for example when wind speed is excessive, torque is excessive or torque is insufficient, there is exception in the operating status of tower crane,
So being needed through height sensor, aspect sensor, air velocity transducer, weight sensor and luffing during tower crane work
Sensor is in real time monitored the operating status of tower crane, and the installation position of each sensor is as shown in Figure 3.Certainly, the application
It is not limited only to that above-mentioned several sensors are arranged, other sensors can also be set, to be carried out more to the operating status of tower crane
It monitors well.
Further, the tower crane control system of the application further includes the warning device 6 being connect with control device 4；
Control device 4 is additionally operable to obtain operating parameter, and is analyzed operating parameter according to predetermined threshold value, works as operation
Warning device 6 is triggered when abnormal parameters sends out alarm prompt.
That is, the predetermined threshold value of operating parameter can be pre-set, for example, when operating parameter include wind speed, torque, weight,
When luffing, orientation, predetermined threshold value includes predetermined threshold value corresponding with every class parameter, and control device 4 can connect with terminal device 3
Connect, and obtain the operating parameter on terminal device 3 (certainly, control device 4 can also be by radio transmitting device 5 directly from biography
Operating parameter is obtained at sensor 2), and be compared with corresponding predetermined threshold value according to operating parameter, when operating parameter is more than phase
It is determined as the operating parameter exception when predetermined threshold value answered, operating status is abnormal at this time for tower crane to known to, at this time control device 4
Warning device 6 can be controlled and send out alarm prompt, to make staff take corresponding control to tower crane in time, and it is right in time
Tower crane is safeguarded.
Specifically, the warning device 6 in the application can be buzzer, it is of course also possible to for warning light or horse race lamp etc.
Other alarming devices.In addition to using other than sound-light alarm, can also sending a warning message to staff, such as to default shifting
Dynamic equipment sends short message prompt etc..
Further, it is out of service to be additionally operable to the control tower crane in operating parameter exception for the control device 4 in the application.
It is, in the operating status exception for detecting tower crane, driving instruction can be sent to the drive system of tower crane,
Tower crane is out of service to control, and the complete machine that can specifically control tower crane is out of service, can also control some group being abnormal
The corresponding motor of part is out of service, and specifically how controlling can be determined according to actual conditions.
As it can be seen that the tower crane control system in the application can acquire construction site video information and the operating parameter of tower crane,
And construction site video information and operating parameter are sent on terminal device and shown, since terminal device and tower crane are point
Body design, the place waited checked convenient for staff on the ground can be arranged in terminal device, and staff can be according to end
The operating parameter of construction site video information and tower crane that end equipment is shown sees the operating status of construction site and tower crane
It examines, and the corresponding action of row is lifted up by control device control tower, to fulfil assignment.The application can make the driver of tower crane exist
The driving to tower crane is completed on ground, is reduced working strength, has been saved human resources, and largely makes work people
The personal safety of member is protected.
On the basis of the above embodiments, the embodiment of the present invention additionally provides a kind of tower crane, including tower crane ontology and is used for
Tower crane control system that tower crane is controlled, such as above-mentioned.
It should be noted that the tower crane in the application has beneficial effect identical as the tower crane control system in above-described embodiment
Fruit.In addition, please referring to above-described embodiment for the introduction of tower crane control system involved in the application, the present embodiment is herein
It repeats no more.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.
It should also be noted that, in the present specification, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only that
A little elements, but also include other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest range caused.
Claims (10)
1. a kind of tower crane control system is applied to tower crane, which is characterized in that including：
It is set to image collecting device on tower crane, for obtaining construction site video information；
It is set to the sensor of operating parameter on the tower crane, for obtaining the tower crane；
With the tower crane split settings, end for being shown to the construction site video information and the operating parameter
End equipment；
The control acted accordingly is executed for the drive system according to tower crane described in control instruction remote control input by user
Device；Construction site video information and operating parameter the input control that the user is shown based on the terminal device refer to
It enables.
2. tower crane control system according to claim 1, which is characterized in that further include for by the construction site video
Information and the operating parameter are transmitted to the radio transmitting device of the terminal device.
3. tower crane control system according to claim 2, which is characterized in that the terminal device is specifically used for described
Construction site video information carries out image procossing, and construction site video information carries out multi-section display by treated.
4. tower crane control system according to claim 2, which is characterized in that further include the report being connect with the control device
Alarm device；
The control device is additionally operable to obtain the operating parameter, and is analyzed the operating parameter according to predetermined threshold value,
The warning device, which is triggered, when the operating parameter exception sends out alarm prompt.
5. tower crane control system according to claim 4, which is characterized in that the warning device is buzzer.
6. tower crane control system according to claim 4, which is characterized in that the control device is additionally operable in the operation
It is out of service that the tower crane is controlled when abnormal parameters.
7. tower crane control system according to claim 4, which is characterized in that the sensor includes height sensor, side
Level sensor, air velocity transducer, weight sensor and luffing sensor.
8. according to the tower crane control system described in claim 1-7 any one, which is characterized in that described image harvester packet
The first camera, second camera and the third included on the main suspension hook, former driver's cabin and tower arm for being respectively arranged at the tower crane is taken the photograph
As head.
9. tower crane control system according to claim 8, which is characterized in that the control instruction passes through distant for the user
Control device input.
10. a kind of tower crane, which is characterized in that including tower crane ontology and for controlled the tower crane, such as claim
Tower crane control system described in 1-9 any one.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810750547.1A CN108483262A (en) | 2018-07-10 | 2018-07-10 | A kind of tower crane and its control system |
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| CN201810750547.1A CN108483262A (en) | 2018-07-10 | 2018-07-10 | A kind of tower crane and its control system |
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| ES2938497R1 (en) * | 2019-08-02 | 2023-04-18 | Global Engineers Tech Pte Ltd | METHOD AND MANAGEMENT SYSTEM OF A CRANE AND/OR A CONSTRUCTION SITE |
| CN112947286A (en) * | 2021-03-25 | 2021-06-11 | 合肥磐石自动化科技有限公司 | Marionette presentation device based on PLC adjusts |
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