CN115108470B - Redundancy control system and method applied to intelligent tower crane - Google Patents
Redundancy control system and method applied to intelligent tower crane Download PDFInfo
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- CN115108470B CN115108470B CN202211036607.6A CN202211036607A CN115108470B CN 115108470 B CN115108470 B CN 115108470B CN 202211036607 A CN202211036607 A CN 202211036607A CN 115108470 B CN115108470 B CN 115108470B
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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
- B66C13/18—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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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/22—Arrangements for detecting or preventing errors in the information received using redundant apparatus to increase reliability
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Control And Safety Of Cranes (AREA)
Abstract
The invention provides a redundancy control system and a redundancy control method applied to an intelligent tower crane, belongs to the technical field of tower cranes, solves the problems that a communication link of the intelligent tower crane is unstable and is easy to interfere, and the defect that the tower crane cannot be operated due to dead halt, and meanwhile, can avoid the out of control of the tower crane. The redundant control system comprises a tower crane power supply unit, a tower crane control unit, a tower crane execution unit, a tower crane monitoring unit, a tower crane communication transmission system and a multi-channel remote control terminal, wherein the tower crane power supply unit comprises a power distribution cabinet and a UPS (uninterrupted power supply), and the tower crane monitoring unit comprises five limiting units, an audible and visual alarm unit and a video monitoring unit; the tower crane power supply unit is connected with the tower crane control unit, the tower crane execution unit, the tower crane monitoring unit and the tower crane redundant communication system at the same time and is used for power supply work of the tower crane control system; the tower crane control unit is communicated with the tower crane monitoring unit, the tower crane execution unit and the tower crane communication transmission system; the output end of the tower crane executing unit is connected with the tower crane monitoring unit.
Description
Technical Field
The invention relates to a control system and a control method, in particular to a redundant control system and a redundant control method applied to an intelligent tower crane, and belongs to the technical field of tower cranes.
Background
Along with the continuous development of science and technology, the continuous innovation of the traditional tower crane industry is promoted. The research direction of the intelligent tower crane is mainly to liberate a tower crane driver, so that the purpose of nearby or remote control of the tower crane is realized. According to the technical scheme, various digital quantity and analog quantity sensing devices are additionally arranged on a tower crane body to acquire data of the operation of the tower crane, a remote control instruction is received, and a frequency converter is driven by a PLC or a controller to remotely control the tower crane.
The tower crane is used as special operation equipment, once a problem occurs in any link of process control, very serious consequences can be caused, and at present, in the research direction of an intelligent tower crane control system, no redundancy design scheme exists, and once the problem occurs in the operation process of the intelligent tower crane, the risk of out-of-control of the tower crane can be faced.
Disclosure of Invention
The invention aims to provide a redundancy control system and a redundancy control method applied to an intelligent tower crane, which solve the problems that the intelligent tower crane is unstable in communication link and easy to be interfered due to the influence of construction environment, and the defect that the intelligent tower crane cannot be operated due to dead halt, which is unavoidable in single controller design, and meanwhile, the problem that the intelligent tower crane is out of control can be realized.
The invention aims to achieve the aim, and the aim is achieved by the following technical scheme:
the redundant control system comprises a tower crane power unit, a tower crane control unit, a tower crane execution unit, a tower crane monitoring unit and a tower crane communication transmission system, wherein the tower crane power unit comprises a power distribution cabinet and a UPS (uninterrupted Power supply), and the tower crane monitoring unit comprises five limiting, audible and visual alarm and video monitoring; the tower crane power supply unit is connected with the tower crane control unit, the tower crane execution unit, the tower crane monitoring unit and the tower crane redundant communication system at the same time and is used for power supply work of the tower crane control system; the tower crane control unit is communicated with the tower crane monitoring unit, the tower crane execution unit and the tower crane communication transmission system; the output end of the tower crane executing unit is connected with the tower crane monitoring unit; the tower crane executing unit comprises a lifting frequency converter, a rotary frequency converter and a variable amplitude frequency converter; the tower crane control unit comprises two switches, two controllers and two safety controllers, wherein the controllers adopt two paths of DP interfaces to butt joint IO equipment, a sensor, an encoder, a rotary frequency converter and a variable amplitude frequency converter, one of the two controllers is a main controller, the other controller is a standby controller, and the sensor is arranged on the tower crane body.
The redundancy control system applied to the intelligent tower crane is preferably designed, and the tower crane communication transmission system comprises a tower crane wireless communication unit, a cloud platform and a plurality of remote control terminals.
The redundancy control system applied to the intelligent tower crane preferably comprises a tower crane wireless communication unit, wherein the tower crane wireless communication unit comprises a 5G intelligent gateway, WIFI and radio waves, the radio wave communication uplink adopts 230MHz radio waves, and the downlink adopts 433MHz radio waves.
The optimal scheme of the redundant control system applied to the intelligent tower crane is that a controller adopts a NXPI.mx6DL embedded chip.
The redundancy control system applied to the intelligent tower crane is preferably arranged in a way that Profibus-DP communication is adopted between the controller and the sensor, and 485 and GPIO communication is adopted among the controller, the rotary frequency converter and the variable amplitude frequency converter.
A tower crane control method by using the redundancy control system comprises the following steps of:
s1, powering up a system;
s2, running two controller programs;
s3, judging whether control logic exists, if the control logic does not exist, the master controller logic issues the backup controller to issue or copy the master station, and if the control logic exists, the backup controller monitors the broadcasting state of the other party;
s4, whether the standby controller receives the state of the other party or not;
s5, the opposite side state can be received and the initialization process is carried out, the master controller is a master station, the standby controller is a standby station, the self initialization process is carried out, the opposite side is the master station, the self is the standby station, the opposite side information is not received, and if the opposite side information is not received in one end time, the self is determined to be the master station;
s6, the standby station monitors the broadcasting state of the main station, and once the main station state cannot be received in three continuous periods, the standby station is updated to the main station.
The optimal scheme of the tower crane control method by using the redundancy control system is that a plurality of remote control terminal scheduling methods are as follows:
s01, binding the plurality of remote control terminals with a tower crane: each tower crane has a unique code, the remote control terminal also has a unique code, when the remote control terminal is not bound, the remote control terminal sends broadcast information, the tower crane controller returns own ID information after receiving the broadcast information, and after receiving the ID number, the remote control terminal binds the own ID with the ID of the tower crane to form a communication header information, so that the binding process of the tower crane is completed;
s02, configuring the priority of the remote control terminal on the cloud platform according to the work type carrying the remote control terminal and the scheduling of the construction on the same day, after the configuration is completed, transmitting the priority of the remote control terminal bound with the tower crane to a controller of a tower crane control unit through the cloud platform to form three levels of priority queues, wherein the priority queues can be used for priority service, but the priority queues also need to occupy the control right of the tower crane after the operation right is released by the previous remote control terminal, so that priority service is realized, and the priority is the same in a FIFO first-in-first-out service mode;
s03, time limitation: each remote control terminal occupies the control right of the tower crane according to the task and has accumulated count, the control right of the tower crane is not occupied continuously after a certain number of times is reached, so that the low-priority remote control terminal obtains the operation right, the low-priority remote control terminal has an initial value of 2 x N, N is the count of all remote control terminals bound with the tower crane, after the tower crane executes a task operation once, the initial value is reduced by 1, once the initial value is reduced to 1, the task has the highest priority, and the task is directly executed next time;
s04, manual adjustment of an administrator of the operation authority of the remote control terminal: according to the actual progress of a construction site and the time sequence of arrival of construction materials at the site, construction management personnel manually adjusts the authority of a remote control terminal through a platform according to the actual progress of site construction, so that the manual intervention of remote control terminal scheduling is realized.
The invention has the advantages that:
the main and standby control stations are combined with the redundancy design scheme of the safety controller, the main and standby stations interact in real time through a redundancy network, control logic and process data are synchronized in real time, and the automatic recovery is restarted, so that the defect that a single controller is out of control in a dead tower crane is thoroughly overcome.
The method comprises the steps of selecting a three-redundancy communication mechanism consisting of the final control instructions with the same number as 2 from data from three communication links of a wireless communication unit of the tower crane and a three-taking two instruction determining mode from the result, and thoroughly solving the risk of out-of-control of the tower crane caused by the problem of surrounding signals; and an access mode of a plurality of remote control terminals is adopted, the site construction progress is attached, a scheduling mechanism is designed, and the construction efficiency is improved.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention.
FIG. 1 is a block diagram of a tower redundancy control system of the present invention.
Fig. 2 is a topological structure diagram of the control unit of the tower crane according to the invention.
FIG. 3 is a diagram of a control method of the tower crane according to the present invention.
Fig. 4 is a topology of a wireless communication link in accordance with the present invention.
Fig. 5 is a schematic diagram of a scheduling method of a plurality of remote control terminals.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The redundant control system comprises a tower crane power unit, a tower crane control unit, a tower crane execution unit, a tower crane monitoring unit and a tower crane communication transmission system, wherein the tower crane power unit is simultaneously connected with the tower crane control unit, the tower crane execution unit, the tower crane monitoring unit and the tower crane redundant communication system, and is used for power supply work of the tower crane control system; the output end of the tower crane control unit is connected with the tower crane monitoring unit, the tower crane executing unit and the tower crane communication transmission system; the output end of the tower crane executing unit is connected with the tower crane monitoring unit.
In the embodiment, the tower crane power supply unit adopts two paths of DC24V power supply, one path is a power distribution cabinet, the other path is a UPS power supply, two paths of power supply diodes are isolated, a self-recovery fuse is configured for grounding treatment and lightning protection treatment, and meanwhile, an isolated DCDC conversion circuit is adopted for supplying power to a later-stage circuit, and the abnormal work of a control system caused by abnormal power supply is effectively solved by the two paths of redundant isolated power supply modes.
In this embodiment, the tower crane executing unit includes a lifting frequency converter, a rotary frequency converter and a luffing frequency converter;
in the embodiment, the tower crane monitoring unit comprises five limiting, audible and visual alarm and video monitoring;
in this embodiment, the tower crane control unit includes two switches, two controllers, two safety controllers, and the controller adopts nxpi.mx6dl embedded chip, and the controller adopts two way DP interface butt joint IO equipment, sensor, encoder, gyration converter and change width of cloth converter, and two controllers are main control unit, and another is the backup controller, and the sensor sets up on the tower crane body. Control logic of the two controllers, process data synchronization, state interaction of the two controllers, system operation monitoring and other functions. The two controllers adopt the same embedded controller I.mx6DL, the controller has one path of gigabit network port, expand the other path through PCIE, realize the redundant configuration of network; the system is provided with two paths of can interfaces, and a Profibus-DP communication protocol stack is transplanted and used for acquiring bottom layer sensor data. Based on an embedded Linux operating system, multithreading programming is adopted, and 8-port switches are utilized to realize process communication, control logic and process data synchronization of the master control station and the slave control station. And monitoring the running state of the controller, and recovering the abnormality automatically to ensure the stable running of the controller. And positioning information of the mobile terminal is acquired through a network, lifting, turning and amplitude changing of the three actuating mechanisms are controlled, and motion control of the tower crane is completed according to the control instruction.
In the embodiment, the controller and the sensor are communicated through Profibus-DP, and the controller, the rotary frequency converter and the variable amplitude frequency converter are communicated through 485 and GPIO.
A tower crane control method by using a redundant control system, wherein the communication process comprises the following steps:
s1, powering up a system;
s2, running two controller programs;
s3, judging whether control logic exists, if the control logic does not exist, the master controller logic issues the backup controller to issue or copy the master station, and if the control logic exists, the backup controller monitors the broadcasting state of the other party;
s4, whether the standby controller receives the state of the other party or not;
s5, the opposite side state can be received and the initialization process is carried out, the master controller is a master station, the standby controller is a standby station, the self initialization process is carried out, the opposite side is the master station, the self is the standby station, the opposite side information is not received, and if the opposite side information is not received in one end time, the self is determined to be the master station;
s6, the standby station monitors the broadcasting state of the main station, and once the main station state cannot be received in three continuous periods, the standby station is updated to the main station.
Another important component of the redundant control system of the intelligent tower crane is a tower crane communication transmission system, wherein the tower crane communication transmission system comprises a tower crane wireless communication unit, a cloud platform and a plurality of remote control terminals, the tower crane wireless communication unit comprises a 5G intelligent gateway, WIFI and radio waves, the radio wave communication aims at solving the problem of stability and reliability of a tower crane communication link, ensuring accurate and corresponding instructions and real-time feedback of states, thereby avoiding out of control of the tower crane, wherein 230MHZ radio waves are adopted in the upstream of the radio wave communication, and 433MHZ radio waves are adopted in the downstream of the radio wave communication.
The tower crane communication transmission system can solve the following two problems:
1. and the real-time accurate execution of the control instruction. The tower crane operator can all carry out the transmission of command through three links through the button on the remote control terminal or the touch button of touch-sensitive screen, including 5G intelligent gateway, WIFI and radio wave. The tower crane controller receives the control instructions of the three links within a set time, and then confirms the final command according to the logic of three-out-of-two as shown in table 1, thereby ensuring the accuracy of the control instructions. The communication mode is carried out by adopting a heartbeat and feedback mode, the remote control terminal keeps the heartbeat by adopting the frequency of 2Hz, and after the tower crane controller receives the heartbeat, the current operation parameters of the tower crane are fed back to the terminal by the feedback mode, so that the real-time response of the data is ensured. Meanwhile, the uplink frequency is 230Mhz, the downlink frequency is 433Mhz, interference is prevented by frequency modulation on the basis of different towers, the stability and smoothness of uplink and downlink data are ensured, and the problems of channel occupation and communication conflict caused by active transmission of both sides are also avoided in a heartbeat and response mode.
Table 1 control instruction three-fetch two processing mechanism
2. Exception handling of communication links. In the actual implementation process, the current signal quality is affected to a certain extent due to the position of a construction site and the surrounding environment, so that the situation that a communication link is problematic is unavoidable. The processing mode is shown in fig. 5, each link can carry out response communication, once the link has a problem, the response communication can be continued in the next three instruction periods, the problem still exists after three periods, 10-period, 30-period and 60-period delay response can be carried out, once the link is recovered to be normal, the normal communication method is maintained, and if the problem still exists, the bottom drive can reset the link. And then continues to cycle back and forth. The method aims to ensure real-time monitoring of the link state, avoid too much useless detection and improve the system efficiency.
Another important component of the redundant control system of the intelligent tower crane is to support access control of multiple remote control terminals. Because the distribution of the demands for lifting objects on the construction site is uncertain and exists at any position of the three-dimensional building main body, the construction efficiency can be greatly improved by introducing a plurality of remote control terminals. Meanwhile, a single remote control terminal controls the operation of the tower crane, and once a problem exists, the tower is at risk of out of control. However, the access of multiple remote control terminals inevitably introduces the scheduling problem of remote controllers, and a scheduling method of multiple remote control terminals as shown in fig. 5 is designed according to the actual situation of a construction site, and specifically is as follows:
s01, binding a plurality of remote control terminals, namely remote controllers, with a tower crane is completed: each tower crane has a unique code, the remote control terminal also has a unique code, when the remote control terminal is not bound, the remote control terminal sends broadcast information, after receiving the broadcast information, the tower crane controller returns own ID information, after receiving the ID number, the remote control terminal binds the own ID with the ID of the tower crane to form a head information of communication, the binding process of the tower crane is completed, and 9 remote control terminals are planned in FIG. 5, wherein the ID numbers of the 9 remote control terminals are 1 to 1;
s02, according to the work type carrying the remote controller and the scheduling of the construction on the same day, configuring the priority of the remote controller on a cloud platform, after the configuration is completed, transmitting the priority of the remote controller bound with the tower crane to the tower crane controller through the cloud platform to form three levels of priority queues, wherein the priority queues can be used for priority service with high priority, if the remote control terminal ID of the highest priority is 9, 3 and 4, and the remote control terminal ID of the lowest priority of the secondary priority is 6, 2 and 5, and the remote control terminal ID of the lowest priority is 8, 1 and 7; however, after the operation authority is released by the previous remote controller, the control authority of the tower crane can be preempted to realize the priority service, and the priority is the same and is carried out in a FIFO first-in-first-out service mode;
s03, time limitation: each remote control terminal occupies the control right of the tower crane according to the task and has accumulated count, at present, according to 3 times of planning, after 3 times, the remote controller with low priority can acquire the operation right without continuously occupying the control right of the tower crane, the remote controller with low priority has an initial value of 2*N (the count of all remote controllers bound to the tower crane), after the tower crane executes the task operation once, the initial value is reduced by 1, once the task is reduced to 1, the task has the highest priority, the task is directly executed next time, the low priority can be controlled by the method, and the control right of the tower crane can not be acquired for a long time;
s04, manual adjustment of an administrator of the operation authority of the remote controller. According to the actual progress of a construction site and the time sequence of arrival of construction materials at the site, the construction manager can manually adjust the authority of the remote controller through a platform to realize manual intervention of remote controller dispatching, such as lifting the low-priority remote control terminal 1 to the highest priority, reducing the priority of the secondary-priority remote control terminal 6 and delaying operation, thereby improving the construction efficiency.
The whole process is as follows: according to the construction operation arrangement of the same day, 9 remote control terminals on a construction site are bound to the tower crane and divided according to the priority levels described in the drawing, normal construction operation is started, the remote control terminal 9 with the highest priority level preferentially obtains task execution authorities and starts to operate in a task time block 1, after the operation is finished, the remote control terminal 3 obtains the authorities and continues to execute, at the moment, the actual progress of the construction site is changed, the priority level of the remote control terminal 6 is manually reduced, the operation authorities are released, the task of the remote control terminal 4 is not started yet, the remote control terminal 2 obtains the highest operation authorities, the task of the remote control terminal 2 needs to occupy 2 task time blocks and is normally executed; at this time, the priority of the remote control terminal 1 is manually adjusted, at this time, the remote control terminal 1 acquires the highest priority to start execution, preempting the execution authority of the remote control terminal 5, and the remote control terminal 5 is executed after a delay, and then the remote control terminal 4, the remote control terminal 6, the remote control terminal 8, and the remote control terminal 7 are executed in order of priority.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. The redundancy control system comprises a tower crane power unit, a tower crane control unit, a tower crane execution unit, a tower crane monitoring unit and a tower crane communication transmission system, wherein the tower crane monitoring unit comprises five limiting, audible and visual alarms and video monitoring, and is simultaneously connected with the tower crane control unit, the tower crane execution unit, the tower crane monitoring unit and the tower crane redundancy communication system and is used for power supply work of the tower crane control system; the tower crane control unit is communicated with the tower crane monitoring unit, the tower crane execution unit and the tower crane communication transmission system; the output end of the tower crane executing unit is connected with the tower crane monitoring unit; the tower crane power supply unit comprises a power distribution cabinet and a UPS power supply; the tower crane executing unit comprises a lifting frequency converter, a rotary frequency converter and a variable amplitude frequency converter; the tower crane control unit comprises two switches, two controllers and two safety controllers, wherein the controllers adopt two paths of DP interfaces to butt joint IO equipment, a sensor, an encoder, a rotary frequency converter and a variable amplitude frequency converter, one of the two controllers is a main controller, the other is a standby controller, and the sensor is arranged on a tower crane body, and the tower crane control unit is characterized in that the communication process comprises the following steps:
s1, powering up a system;
s2, running two controller programs;
s3, judging whether control logic exists, if the control logic does not exist, the master controller logic issues the backup controller to issue or copy the master station, and if the control logic exists, the backup controller monitors the broadcasting state of the other party;
s4, whether the standby controller receives the state of the other party or not;
s5, the opposite side state can be received and the initialization process is carried out, the master controller is a master station, the standby controller is a standby station, the self initialization process is carried out, the opposite side is the master station, the self is the standby station, the opposite side information is not received, and if the opposite side information is not received in one end time, the self is determined to be the master station;
s6, the standby station monitors the broadcasting state of the main station, and once the main station state cannot be received in three continuous periods, the standby station is updated to the main station;
the scheduling method of the plurality of remote control terminals comprises the following steps:
s01, binding the plurality of remote control terminals with a tower crane: each tower crane has a unique code, the remote control terminal also has a unique code, when the remote control terminal is not bound, the remote control terminal sends broadcast information, the tower crane controller returns own ID information after receiving the broadcast information, and after receiving the ID number, the remote control terminal binds the own ID with the ID of the tower crane to form a communication header information, so that the binding process of the tower crane is completed;
s02, configuring the priority of the remote control terminal on the cloud platform according to the work type carrying the remote control terminal and the scheduling of the construction on the same day, after the configuration is completed, transmitting the priority of the remote control terminal bound with the tower crane to a controller of a tower crane control unit through the cloud platform to form three levels of priority queues, wherein the priority queues can be used for priority service, but the priority queues also need to occupy the control right of the tower crane after the operation right is released by the previous remote control terminal, so that priority service is realized, and the priority is the same in a FIFO first-in-first-out service mode;
s03, time limitation: each remote control terminal occupies the control right of the tower crane according to the task and has accumulated count, the control right of the tower crane is not occupied continuously after a certain number of times is reached, so that the low-priority remote control terminal obtains the operation right, the low-priority remote control terminal has an initial value of 2 x N, N is the count of all remote control terminals bound with the tower crane, after the tower crane executes a task operation once, the initial value is reduced by 1, once the initial value is reduced to 1, the task has the highest priority, and the task is directly executed next time;
s04, manual adjustment of an administrator of the operation authority of the remote control terminal: according to the actual progress of a construction site and the time sequence of arrival of construction materials at the site, construction management personnel manually adjusts the authority of a remote control terminal through a platform according to the actual progress of site construction, so that the manual intervention of remote control terminal scheduling is realized.
2. The method for tower crane control using a redundant control system according to claim 1, wherein: the tower crane communication transmission system comprises a tower crane wireless communication unit, a cloud platform and a plurality of remote control terminals.
3. The method for tower crane control using a redundant control system according to claim 1, wherein: the tower crane wireless communication unit comprises a 5G intelligent gateway, WIFI and radio waves, wherein 230MHz radio waves are adopted in the uplink of radio wave communication, and 433MHz radio waves are adopted in the downlink of radio wave communication.
4. The method for tower crane control using a redundant control system according to claim 1, wherein: the controller employs a nxpi.mx6dl embedded chip.
5. The method for tower crane control using a redundant control system according to any one of claims 1 to 4, wherein: the controller and the sensor are communicated through Profibus-DP, and the controller, the rotary frequency converter and the amplitude variable frequency converter are communicated through 485 and GPIO.
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