CN110697578A - Tower crane teleoperation control system and method based on multi-sensor fusion - Google Patents
Tower crane teleoperation control system and method based on multi-sensor fusion Download PDFInfo
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- CN110697578A CN110697578A CN201910922167.6A CN201910922167A CN110697578A CN 110697578 A CN110697578 A CN 110697578A CN 201910922167 A CN201910922167 A CN 201910922167A CN 110697578 A CN110697578 A CN 110697578A
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- tower crane
- sensor
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- personal computer
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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
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control 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
- B66C13/16—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
- B66C15/00—Safety gear
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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 tower crane teleoperation control system and method based on multi-sensor fusion, wherein the system comprises a data acquisition module, a central control module and a data processing module, wherein the data acquisition module is used for acquiring tower crane operation scene information and transmitting the tower crane operation scene information to the central control module; the central control module is used for transmitting the acquired information to the industrial personal computer module through the wireless communication module and controlling the tower crane motor to work; the industrial personal computer module is used for constructing a 3D virtual operation scene; the display module is used for displaying the 3D virtual operation scene and the acquired information; and the remote operation module comprises a left remote operation rod and a right remote operation rod, the industrial personal computer module transmits the instructions of the left remote operation rod and the right remote operation rod to the central control module through the second wireless communication module, and the central control module controls the tower crane motor to work so as to control the actual tower crane to work. The method is realized based on the system. The invention not only improves the existing simple and crude tower crane operation environment, but also enables operators to directly monitor and operate the tower crane on the ground, improves the safety, and has more intelligent and humanized operation mode.
Description
Technical Field
The invention relates to the technical field of tower crane construction control, in particular to a tower crane teleoperation control system and method based on multi-sensor fusion.
Background
The tower crane is the most common hoisting equipment in construction sites, is also called as a tower crane and is used for hoisting construction raw materials such as reinforcing steel bars, wood ridges, concrete, steel pipes and the like for construction. The tower crane is an indispensable device on a construction site.
At present, the most common tower crane in the market is a trolley amplitude crane boom tower crane, a cab of the crane is positioned at the top of the tower crane, an operator can reach the tower crane only by climbing dozens of meters or even hundreds of meters along the tower crane, physical strength and psychology of the operator are challenged, and working time is affected and construction efficiency is reduced due to the fact that the operator encounters high temperature and cold weather. In addition, the cab is higher than the ground and has rough conditions, and drivers are difficult to rescue in the first time when accidents happen.
Disclosure of Invention
The invention aims to provide a tower crane teleoperation control system and method based on multi-sensor fusion, which can realize remote control of a tower crane.
The technical solution for realizing the purpose of the invention is as follows: a tower crane teleoperation control system based on multi-sensor fusion comprises a data acquisition module, a central control module, an industrial personal computer module, a first wireless communication module, a display module, a teleoperation module, a voice alarm module and a second wireless communication module;
the data acquisition module is used for acquiring the tower crane operation scene information and transmitting the information to the central control module arranged in the tower crane cab;
the central control module is used for transmitting the information acquired by the data acquisition module to the ground industrial personal computer module through the first wireless communication module and is also used for controlling the tower crane motor to work;
the industrial personal computer module is used for processing the information acquired by the data acquisition module to construct a 3D virtual operation scene and transmitting the 3D virtual operation scene to the display module for displaying;
the display module is used for displaying the 3D virtual operation scene and the information acquired by the data acquisition module;
the remote operation module comprises a left remote operation rod and a right remote operation rod, the industrial personal computer module transmits instructions of the left remote operation rod and the right remote operation rod to the central control module through the second wireless communication module, and the central control module controls the tower crane motor to work so as to control the large arm, the trolley and the lifting hook of the actual tower crane to perform corresponding movement;
and the voice alarm module is used for carrying out alarm prompt according to the information acquired by the data acquisition module.
The tower crane teleoperation control system method based on the multi-sensor fusion comprises the following steps:
step 1, starting a tower crane teleoperation control system through a display module;
step 2, gather tower crane operation relevant information by camera module, sensor module, include: the method comprises the steps that a camera module collects panoramic images of a tower crane operation scene and images of the surrounding environment of a lifting hook, an infrared pyroelectric sensor detects whether personnel exist around the tower crane, an inclination angle sensor collects the inclination angle of the tower crane, a weight sensor collects the weight of a material hung by the lifting hook, and a height sensor collects the height of the lifting hook;
step 3, transmitting the information acquired in the step 2 to a ground industrial personal computer module through a first wireless communication module;
step 4, the industrial personal computer module transmits the received information to a display module for displaying; meanwhile, the industrial personal computer module processes the received sensor data in real time, judges whether relevant indexes of a tower crane operation site meet set safety thresholds or not according to processing results, and carries out alarm prompt through the voice alarm module if the relevant indexes do not meet the set safety thresholds.
Compared with the prior art, the invention has the following remarkable advantages: 1) the ground detection and the control of the tower crane operation can be realized, the working environment of the existing tower crane operators is greatly improved, the working pressure of the operators is reduced, and the working efficiency is improved; 2) by adopting the high-precision sensor, an operator can monitor the working state of the tower crane system in real time through the display module and is provided with the face recognition module or the fingerprint starting module and the voice alarm module, so that the safety performance of the system is improved; 3) the left remote operating rod and the right remote operating rod of the ground control room are adopted to replace the left operating rod and the right operating rod of the original cab, and the operating mode is simpler, more convenient, more intelligent and more humanized.
The present invention is described in further detail below with reference to the attached drawing figures.
Drawings
Fig. 1 is a structural block diagram of a tower crane teleoperation control system based on multi-sensor fusion.
Detailed Description
With reference to fig. 1, the tower crane teleoperation control system based on multi-sensor fusion of the present invention includes a data acquisition module, a central control module, an industrial personal computer module, a first wireless communication module, a display module, a teleoperation module, a voice alarm module, and a second wireless communication module;
the data acquisition module is used for acquiring the tower crane operation scene information and transmitting the information to the central control module arranged in the tower crane cab;
the central control module is used for transmitting the information acquired by the data acquisition module to the ground industrial personal computer module through the first wireless communication module and controlling the tower crane motor to work;
the industrial personal computer module is used for processing the information acquired by the data acquisition module to construct a 3D virtual operation scene and transmitting the 3D virtual operation scene to the display module for displaying;
the display module is used for displaying the 3D virtual operation scene and the information acquired by the data acquisition module;
the remote operation module comprises a left remote operation rod and a right remote operation rod, the industrial personal computer module transmits instructions of the left remote operation rod and the right remote operation rod to the central control module through the second wireless communication module, and the central control module controls the tower crane motor to work so as to control the large arm, the trolley and the lifting hook of the actual tower crane to perform corresponding movement;
and the voice alarm module is used for carrying out alarm prompt according to the information acquired by the data acquisition module.
Further, in one embodiment, the data acquisition module includes: the system comprises a camera module and a sensor module, wherein the camera module comprises a panoramic camera for acquiring panoramic images of a tower crane operation scene and a binocular camera for acquiring images of the environment around a lifting hook; the sensor module comprises an infrared pyroelectric sensor for detecting personnel around the tower crane, an inclination angle sensor for acquiring the inclination angle of the tower crane, a weight sensor for acquiring the weight of a material hung by the lifting hook and a height sensor for acquiring the height of the lifting hook.
By adopting the scheme of the embodiment, the acquired information is more complete, so that the subsequently constructed 3D virtual operation scene is more comprehensive.
Further, in one embodiment, the voice alarm module performs alarm prompting according to the information acquired by the data acquisition module, specifically: if the data measured by any one of the sensors in the sensor module exceeds the corresponding safety threshold value, the voice alarm module gives an alarm prompt, and the alarm is stopped after the operator manually confirms and takes corresponding safety measures in time.
Further, in one embodiment, the display module is further used for starting a tower crane control system.
Further, in one embodiment, the display module specifically starts the tower crane control system in a face recognition or fingerprint recognition mode.
By adopting the scheme of the embodiment, the safety performance of the tower crane control system is improved.
Further, in one embodiment, the left and right teleoperation rods are respectively mapped to left and right operation rods in an actual tower crane cab, the left teleoperation rod is used for controlling the movement of a large arm and a trolley of the actual tower crane, and the right teleoperation rod is used for controlling the movement of a hook of the actual tower crane.
By adopting the scheme of the embodiment, the left remote operating rod and the right remote operating rod of the original cab are replaced by the left remote operating rod and the right remote operating rod, and the operating mode is simpler, more convenient, more intelligent and more humanized. And the operator can directly monitor and operate the tower crane on the ground, so that the safety is improved.
Further, in one embodiment, the first wireless communication module and the second communication module specifically use a wireless local area network.
The tower crane teleoperation control method based on the multi-sensor fusion of the system comprises the following steps:
step 1, starting a tower crane teleoperation control system through a display module;
step 2, gather tower crane operation relevant information by camera module, sensor module, include: the method comprises the steps that a camera module collects panoramic images of a tower crane operation scene and images of the surrounding environment of a lifting hook, an infrared pyroelectric sensor detects whether personnel exist around the tower crane, an inclination angle sensor collects the inclination angle of the tower crane, a weight sensor collects the weight of a material hung by the lifting hook, and a height sensor collects the height of the lifting hook;
step 3, transmitting the information acquired in the step 2 to a ground industrial personal computer module through a first wireless communication module;
step 4, the industrial personal computer module transmits the received information to a display module for displaying; meanwhile, the industrial personal computer module processes the received sensor data in real time, judges whether relevant indexes of a tower crane operation site meet set safety thresholds or not according to processing results, and carries out alarm prompt through the voice alarm module if the relevant indexes do not meet the set safety thresholds.
Further, in one embodiment, in step 4, the industrial control machine module processes the received sensor data in real time, and determines whether the relevant indexes of the tower crane operation site meet the set safety threshold according to the processing result, and if not, the voice alarm module gives an alarm, specifically:
step 4-1, establishing a matrix A according to data collected by the infrared pyroelectric sensor, the weight sensor and the height sensor:
in the formula, the rows 1, 2 and 3 of the matrix respectively represent the infrared pyroelectric sensor, the weight sensor and the height sensor in the sampling period TnN data continuously collected;
4-2, performing median filtering processing on data of each row in the matrix A by using an industrial personal computer;
step 4-3, sampling period TnThe sampling times in the model are used as system input, the data of each row of the matrix A are respectively used as output, mathematical models of the data of the infrared pyroelectric sensor, the weight sensor and the height sensor are respectively established through curve fitting, and then derivation is carried out to obtain the point with the fastest change which is m1,m2,m3；
Step 4-4, according to m1,m2,m3Whether relevant indexes of a tower crane operation site meet set safety thresholds or not is judged, and the method specifically comprises the following steps:
in the formula, safe1Safety threshold for infrared pyroelectric sensor, safe2Safe threshold for weight sensor, safe3A safety threshold for the height sensor; if the three conditions in the formula are simultaneously met, the relevant indexes of the tower crane operation site meet the set safety threshold, otherwise, the voice alarm module gives an alarm.
The tower crane teleoperation control system and method based on multi-sensor fusion provided by the invention not only improve the existing simple and crude tower crane operation environment, but also enable operators to directly monitor and operate the tower crane on the ground, improve the safety, and enable the operation mode to be more intelligent and humanized.
Claims (9)
1. A tower crane teleoperation control system based on multi-sensor fusion is characterized by comprising a data acquisition module, a central control module, an industrial personal computer module, a first wireless communication module, a display module, a teleoperation module, a voice alarm module and a second wireless communication module;
the data acquisition module is used for acquiring the tower crane operation scene information and transmitting the information to the central control module arranged in the tower crane cab;
the central control module is used for transmitting the information acquired by the data acquisition module to the ground industrial personal computer module through the first wireless communication module and is also used for controlling the tower crane motor to work;
the industrial personal computer module is used for processing the information acquired by the data acquisition module to construct a 3D virtual operation scene and transmitting the 3D virtual operation scene to the display module for displaying;
the display module is used for displaying the 3D virtual operation scene and the information acquired by the data acquisition module;
the remote operation module comprises a left remote operation rod and a right remote operation rod, the industrial personal computer module transmits instructions of the left remote operation rod and the right remote operation rod to the central control module through the second wireless communication module, and the central control module controls the tower crane motor to work so as to control the large arm, the trolley and the lifting hook of the actual tower crane to perform corresponding movement;
and the voice alarm module is used for carrying out alarm prompt according to the information acquired by the data acquisition module.
2. The tower crane teleoperation control system based on multisensor fusion of claim 1, wherein the data acquisition module includes: the system comprises a camera module and a sensor module, wherein the camera module comprises a panoramic camera for acquiring panoramic images of a tower crane operation scene and a binocular camera for acquiring images of the environment around a lifting hook; the sensor module comprises an infrared pyroelectric sensor for detecting personnel around the tower crane, an inclination angle sensor for acquiring the inclination angle of the tower crane, a weight sensor for acquiring the weight of a material hung by the lifting hook and a height sensor for acquiring the height of the lifting hook.
3. The tower crane teleoperation control system based on multisensor fuses of claim 1 or 2, characterized in that, the audio alert module carries out the warning suggestion according to the information that data acquisition module gathered, specifically is: and if the data measured by any one sensor in the sensor modules exceeds the corresponding safety threshold value, the voice alarm module carries out alarm prompt.
4. The tower crane teleoperation control system based on multisensor fuses of claim 1, wherein, the display module is still used for starting tower crane control system.
5. The tower crane teleoperation control system based on multisensor fuses of claim 4, wherein, display module specifically starts tower crane control system through face identification or fingerprint identification mode.
6. The tower crane teleoperation control system based on multisensor fuses of claim 1, characterized in that, left and right teleoperation pole maps respectively in left and right action bars in actual tower crane driver's cabin, and left teleoperation pole is used for controlling the big arm of actual tower crane, dolly motion, and right teleoperation pole is used for controlling the lifting hook motion of actual tower crane.
7. The tower crane teleoperation control system based on multi-sensor fusion of claim 1, wherein the first wireless communication module and the second communication module specifically employ wireless local area networks.
8. The tower crane teleoperation control method based on the multi-sensor fusion of any one of the systems of claims 1 to 7, characterized by comprising the following steps:
step 1, starting a tower crane teleoperation control system through a display module;
step 2, gather tower crane operation relevant information by camera module, sensor module, include: the method comprises the steps that a camera module collects panoramic images of a tower crane operation scene and images of the surrounding environment of a lifting hook, an infrared pyroelectric sensor detects whether personnel exist around the tower crane, an inclination angle sensor collects the inclination angle of the tower crane, a weight sensor collects the weight of a material hung by the lifting hook, and a height sensor collects the height of the lifting hook;
step 3, transmitting the information acquired in the step 2 to a ground industrial personal computer module through a first wireless communication module;
step 4, the industrial personal computer module transmits the received information to a display module for displaying; meanwhile, the industrial personal computer module processes the received sensor data in real time, judges whether relevant indexes of a tower crane operation site meet set safety thresholds or not according to processing results, and carries out alarm prompt through the voice alarm module if the relevant indexes do not meet the set safety thresholds.
9. The tower crane teleoperation control method based on multi-sensor fusion of claim 8, characterized in that, the industrial personal computer module processes the received sensor data in real time, and judges whether the relevant indexes of the tower crane operation site meet the set safety threshold according to the processing result, if not, the voice alarm module gives an alarm, specifically:
step 4-1, establishing a matrix A according to data collected by the infrared pyroelectric sensor, the weight sensor and the height sensor:
in the formula, the rows 1, 2 and 3 of the matrix respectively represent the infrared pyroelectric sensor, the weight sensor and the height sensor in the sampling period TnN data continuously collected;
4-2, performing median filtering processing on data of each row in the matrix A by using an industrial personal computer;
step 4-3, sampling period TnThe sampling times in the model are used as system input, the data of each row of the matrix A are respectively used as output, mathematical models of the data of the infrared pyroelectric sensor, the weight sensor and the height sensor are respectively established through curve fitting, and then derivation is carried out to obtain the point with the fastest change which is m1,m2,m3；
Step 4-4, according to m1,m2,m3Whether relevant indexes of a tower crane operation site meet set safety thresholds or not is judged, and the method specifically comprises the following steps:
in the formula, safe1Safety threshold for infrared pyroelectric sensor, safe2Safe threshold for weight sensor, safe3A safety threshold for the height sensor; if the three conditions in the formula are simultaneously met, the relevant indexes of the tower crane operation site meet the set safety threshold, otherwise, the voice alarm module gives an alarm.
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