CN117105097B - Intelligent tower crane control system, method and control equipment - Google Patents
Intelligent tower crane control system, method and control equipment Download PDFInfo
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- CN117105097B CN117105097B CN202311371718.7A CN202311371718A CN117105097B CN 117105097 B CN117105097 B CN 117105097B CN 202311371718 A CN202311371718 A CN 202311371718A CN 117105097 B CN117105097 B CN 117105097B
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- 230000007613 environmental effect Effects 0.000 claims abstract description 44
- 238000012544 monitoring process Methods 0.000 claims abstract description 32
- 230000008569 process Effects 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 11
- 238000012423 maintenance Methods 0.000 claims description 9
- 238000012502 risk assessment Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 10
- 239000000463 material Substances 0.000 description 7
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- 230000005540 biological transmission Effects 0.000 description 2
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- 230000002194 synthesizing effect Effects 0.000 description 2
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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
- B66C13/18—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
- 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
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The application relates to an intelligent tower crane control system, method and control equipment. The system comprises a control center, an environment sensing system, a real-time monitoring system, a path planning system and a safety control system, wherein the environment sensing system, the real-time monitoring system, the path planning system and the safety control system are connected with the control center; wherein: the environment sensing system is used for collecting environment data of at least one tower crane; the real-time monitoring system is used for acquiring the motion parameters of at least one tower crane and monitoring the motion parameters in real time by combining the environmental data; the path planning system is used for adjusting the control parameters of the target tower crane path according to the environmental data and the motion parameters; the safety control system comprises an active safety control subsystem and a passive safety control subsystem, wherein the active safety control subsystem is used for controlling a target tower crane when the tower crane is likely to collide, and the passive safety control subsystem is used for controlling the target tower crane after the tower crane is collided. The potential safety hazard of tower crane control has been reduced to a certain extent to this application, especially to the control after the collision more accurate and safety.
Description
Technical Field
The application belongs to the technical field of intelligent control, and particularly relates to an intelligent tower crane control system, an intelligent tower crane control method and intelligent tower crane control equipment.
Background
With the rapid development of technology and the expansion of urban construction, construction sites are more and more, a tower crane is the most commonly used hoisting equipment on a building site, with the increasing number of tower cranes, the more required a great deal of personnel investment and financial investment are required for monitoring and maintaining the tower crane, and with the intensive construction of the existing urban building, the more complex the operation environment of the tower crane is caused, and the more easily the collision is caused.
However, in the prior art, most importance is attached to the prevention of collision, the control of the collision is lightly performed, and the stop key of the tower crane is basically pressed once the collision occurs. For example, an anti-collision device is used for preventing collision, firstly, the inertia of the tower crane is self-learned, and then, the rotation of the tower crane is controlled by means of the identification of the dangerous state of the tower crane and the preset control scheme. However, the inertial self-learning process of the tower crane consumes a relatively large amount of time and cost and is more dependent on the operation of a driver of the tower crane, and moreover, the accurate control cannot be given after the collision of the tower crane occurs.
Disclosure of Invention
Based on the technical problems, the application aims to provide an intelligent tower crane control system, an intelligent tower crane control method and intelligent tower crane control equipment, and at least one of the technical problems is solved to a certain extent.
The first aspect of the application provides an intelligent tower crane control system, which comprises a control center, and an environment sensing system, a real-time monitoring system, a path planning system and a safety control system which are connected with the control center; wherein:
the environment sensing system is used for collecting environment data of at least one tower crane;
the real-time monitoring system is used for acquiring the motion parameters of at least one tower crane and monitoring the motion parameters in real time by combining the environmental data;
the path planning system is used for adjusting the control parameters of the target tower crane path according to the environmental data and the motion parameters;
the safety control system is used for controlling a target tower crane when the tower crane is likely to collide and after collision according to the environmental data and the motion parameters, wherein the safety control system comprises an active safety control subsystem and a passive safety control subsystem, the active safety control subsystem is used for controlling the target tower crane when the tower crane is likely to collide according to the environmental data and the motion parameters, and the passive safety control subsystem is used for controlling the target tower crane after collision of the tower crane according to the environmental data and the motion parameters.
In some embodiments of the present application, the passive safety control subsystem includes a torque sensor, a frequency converter, a resistance analyzer, a safety controller; wherein:
the moment sensor is used for collecting current moment values of different areas of the target tower crane and sending the current moment values to the resistance analyzer;
the frequency converter is controlled by the safety controller and is used for receiving a current signal of a walking motor in the target tower crane and sending the current signal to the resistance analyzer;
the resistance analyzer is used for determining resistance of the target tower crane after collision according to the current moment value and the current signal;
the safety controller is used for controlling the target tower crane according to the resistance facing the collision of the target tower crane.
In some embodiments of the present application, the controlling the target tower crane according to the resistance to which the target tower crane faces after collision includes:
if the resistance of the target tower crane after collision is in a first preset threshold range, controlling the target tower crane to keep the current speed;
if the resistance of the target tower crane after collision is in a second preset threshold range, controlling the target tower crane to decelerate;
and if the resistance of the target tower crane after collision is in a third preset threshold range, controlling the target tower crane to stop.
In some embodiments of the present application, the controlling the target tower crane to decelerate includes:
the current speed of the rope is reduced through the safety controller, the speed after the current speed is reduced is taken as a first speed, and the current travelling direction of the rope is taken as a first direction;
moving in a direction opposite to the first direction at the first speed and finding a target stuck point position;
and moving in the first direction at the first speed after the target stuck point position is found.
In some embodiments of the present application, before said moving in said first direction at said first speed, further comprising:
judging whether avoiding is needed at the target stuck point position;
if the collision is needed, determining a target collision path, and controlling the operation of the target tower crane according to the target collision path so as to finish collision;
and executing the step of moving along the first direction after the avoidance is completed.
In some embodiments of the present application, the intelligent tower crane control system further includes an operation learning virtual system, a communication detection system, and a maintenance system connected to the control center; wherein:
the operation learning virtual system is used for acquiring at least one tower crane data and simulating a tower crane operation scene for tower crane teaching;
the communication detection system is used for detecting the communication state of the target tower crane in real time;
the maintenance system is used for detecting parameters of at least one part in the target tower crane in real time and reminding maintenance.
In some embodiments of the present application, the active safety control subsystem includes a tower group collision avoidance detector for performing a collision alert when a distance between the tower cranes is determined to be less than a distance threshold based on a motion parameter of at least one tower crane.
In some embodiments of the present application, the active safety control subsystem further comprises a collision risk detector comprising a collision risk preset module, a risk impact factor data acquisition module, and a collision risk analysis module; wherein:
the collision risk presetting module is used for presetting a collision risk influence factor data threshold in the operation process of at least one tower crane;
the risk influence factor data acquisition module is used for acquiring current collision risk influence factor data in the operation process of the target tower crane and sending the current collision risk influence factor data to the collision risk analysis module;
the collision risk analysis module is used for analyzing the current collision risk influence factor data, and when the current collision risk influence factor data is not within the collision risk influence factor data threshold, the active safety control subsystem controls the tower crane to work according to a preset control instruction.
The second aspect of the present application provides an intelligent tower crane control method using the intelligent tower crane control system described in each embodiment, which specifically includes the following steps:
collecting environment data of at least one tower crane;
acquiring motion parameters of at least one tower crane, and monitoring the motion parameters in real time by combining the environmental data;
adjusting control parameters of the tower crane path according to the environmental data and the motion parameters;
and controlling the operation of the tower crane according to the adjusted control parameters.
A third aspect of the present application provides an intelligent tower crane control apparatus, the intelligent tower crane control apparatus comprising:
a memory: for storing executable instructions; and
a processor: a method for interfacing with a memory to execute executable instructions to perform the intelligent tower crane control method, the method comprising:
collecting environment data of at least one tower crane;
acquiring motion parameters of at least one tower crane, and monitoring the motion parameters in real time by combining the environmental data;
adjusting control parameters of the tower crane path according to the environmental data and the motion parameters;
and controlling the operation of the tower crane according to the adjusted control parameters.
The technical scheme provided in the embodiment of the application has at least the following technical effects or advantages:
the intelligent tower crane control system in each embodiment of the application comprises a control center, and an environment sensing system, a real-time monitoring system, a path planning system and a safety control system which are connected with the control center; wherein: the environment sensing system is used for collecting environment data of at least one tower crane; the real-time monitoring system is used for acquiring the motion parameters of at least one tower crane and monitoring the motion parameters in real time by combining the environmental data; the path planning system is used for adjusting the control parameters of the target tower crane path according to the environmental data and the motion parameters; the safety control system is used for controlling a target tower crane when the tower crane is likely to collide and after collision according to the environmental data and the motion parameters, wherein the safety control system comprises an active safety control subsystem and a passive safety control subsystem, the active safety control subsystem is used for controlling the target tower crane when the tower crane is likely to collide according to the environmental data and the motion parameters, and the passive safety control subsystem is used for controlling the target tower crane after collision of the tower crane according to the environmental data and the motion parameters. According to the method, the operation range is reasonably planned according to the environmental parameter range during equipment operation, safe operation is guaranteed, the control path is optimized and adjusted in real time in the operation process, the control process is optimized and the operation of the tower crane is controlled, and therefore potential safety hazards in the whole flow of tower crane control, operation and supervision are reduced to a certain extent. In particular to the control of the collision prevention and the post-collision of the tower crane, which is more comprehensive, fine and safe. Moreover, after the tower crane collides, different control measures are adopted according to different resistance values, so that the control target tower crane is prevented from stopping working in a cutting manner, and the control accuracy and efficiency of the tower crane are improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
FIG. 1 illustrates a schematic diagram of a smart tower crane control system in an exemplary embodiment of the present application;
FIG. 2 illustrates a schematic diagram of a safety control system in an exemplary embodiment of the present application;
FIG. 3 illustrates a schematic diagram of an environment awareness system in an exemplary embodiment of the present application;
FIG. 4 illustrates a panoramic view of a worksite equipped with multiple towers in an exemplary embodiment of the present application;
FIG. 5 illustrates a schematic diagram of an active safety control subsystem in an exemplary embodiment of the present application;
FIG. 6 illustrates a schematic diagram of a passive safety control subsystem in an exemplary embodiment of the present application;
FIG. 7 illustrates an emergency braking schematic diagram when the target tower crane drag is within a second preset threshold range in an exemplary embodiment of the present application;
FIG. 8 illustrates an emergency braking schematic diagram when the drag of the target tower machine is within a third preset threshold range in an exemplary embodiment of the present application;
FIG. 9 is a schematic diagram showing steps of a smart tower crane control method of a smart tower crane control system according to an exemplary embodiment of the present application;
fig. 10 is a schematic structural diagram of an intelligent tower crane control device according to an exemplary embodiment of the present application.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Detailed Description
The present application is described in further detail below with reference to the drawings and examples, it being understood that the examples depicted herein are for purposes of illustration only and are not intended to limit the scope of the present invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
In the prior art, a great amount of personnel investment and financial investment are required for monitoring and maintaining the tower crane, and the operation environment of the tower crane becomes more complicated along with the intensive construction of the urban building, so that the tower crane is particularly easy to collide, and a plurality of hidden dangers exist for the safety of the tower crane, thereby providing new challenges for the control of the tower crane.
Accordingly, in some embodiments of the present application, an intelligent tower crane control system is provided, referring to fig. 1, comprising a control center 10, and an environmental awareness system 20, a real-time monitoring system 30, a path planning system 40, a safety control system 50 connected to the control center 10; specifically, the environment sensing system is used for collecting environment data of at least one tower crane; the real-time monitoring system is used for acquiring the motion parameters of at least one tower crane and monitoring the motion parameters in real time by combining the environmental data; the path planning system is used for adjusting the control parameters of the target tower crane path according to the environmental data and the motion parameters; the safety control system is used for controlling the target tower crane when the tower crane is likely to collide and after collision according to the environmental data and the motion parameters, wherein, as shown in fig. 2, the safety control system 50 comprises an active safety control subsystem 501 and a passive safety control subsystem 502, the active safety control subsystem 501 is used for controlling the target tower crane when the tower crane is likely to collide according to the environmental data and the motion parameters, the passive safety control subsystem 502 is used for controlling the target tower crane when the tower crane is likely to collide according to the environmental data and the motion parameters, and the active safety control subsystem and the passive safety control subsystem are more comprehensive, fine and safe in collision prevention and post-collision control of the tower crane.
In one possible implementation manner, the intelligent tower crane control system further comprises an operation learning virtual system, a communication detection system and a maintenance system which are connected with the control center; specifically, the operation learning virtual system is used for acquiring at least one tower crane data and simulating a tower crane operation scene for tower crane teaching; the communication detection system is used for detecting the communication state of the target tower crane in real time; the maintenance system is used for detecting parameters of at least one part in the target tower crane in real time and reminding maintenance. The operation learning virtual system is used for training drivers and is not started when actually working, but the operation learning virtual system can utilize data of other systems to optimize details of the virtual system. Systems other than the operational learning virtual system are optionally all enabled and interrelated at the time of tower operation.
In a specific implementation, the environmental awareness system 20 is configured to collect environmental data about at least one tower crane. A schematic structural diagram of an environment-aware system according to an embodiment of the present application is shown in fig. 3. As shown in fig. 3, in an implementation, the environment awareness system 20 includes an environment acquisition unit 201 and an image recognition unit 202. The environment acquisition unit 201 is used for acquiring an environment image of the tower crane and tower crane operation space data; the image recognition unit 202 is used for recognizing an object and object parameters according to the environmental image where the tower crane is located and the operation space data of the tower crane; the object parameters include object name, object size, and object properties. In a preferred implementation, the environment acquisition unit 201 includes a video acquisition, stitching and synthesizing unit, where the video acquisition, stitching and synthesizing unit is configured to synthesize an overall environment image according to an image of an environment where at least one tower crane is located. Other preferred environmental acquisition units 201 also include lidar and cloud positioning units. The laser radar is used for acquiring the position of at least one object in the environment where the tower crane is located and the geometric shape of the object; the cloud positioning unit is used for obtaining the space data of the object in the environment where the tower crane is located according to the position of at least one object and the geometric shape of the object. Finally, the environment acquisition unit 201 realizes the synthesis of the whole environment image through the environment acquisition unit 201 and the image recognition unit 202. Meanwhile, the environment acquisition unit 201 obtains the space data of the object in the environment where the tower crane is located through the laser radar and the cloud positioning unit. The method realizes the real reduction of the material characteristics in the scene of the site and provides accurate environmental data and parameters for the subsequent operation of the tower crane.
Referring to fig. 4, for the entire worksite, the environmental security is first confirmed. The specific technology is that a scene panoramic map is synthesized by collecting and splicing time axis videos, a laser radar establishes an operation space, a point cloud positioning model generates space data, and through an image recognition technology, as shown in fig. 4, the corresponding relation between related substance attributes and accurate geometric shapes on the panoramic map is marked, item varieties and quantity parameters are calculated, and the panoramic map with the attribute parameters is completed. And the ground differential base station is used for realizing millimeter-level precision so as to display the whole large scene of the intelligent building site. The motion parameters of the system consider weather influencing factors, and parameter monitoring control plans are carried out when dangerous situations occur.
In one particular implementation, the real-time monitoring system 30 includes a tower crane data acquisition unit and a motion parameter analyzer. The tower crane data acquisition unit is used for acquiring real-time images and motion data of at least one tower crane. In particular embodiments, the tower crane data acquisition unit may optionally include a camera, a geomagnetic sensor, and/or an attitude sensor. The motion parameter analyzer is used for analyzing and obtaining the motion parameters of at least one target component of the tower crane according to the real-time image and the motion data of the tower crane; the motion parameters include a target component motion speed, a motion angle, and/or a range of oscillation. In a preferred embodiment, the real-time monitoring system 30 further comprises a tower safety detector, and the tower safety detector is connected with the motion parameter analyzer; the tower body safety detector is used for carrying out risk alarm when the motion parameter of the at least one target component is determined to be greater than the parameter threshold value according to the motion parameter of the at least one target component.
In another specific implementation, the path planning system 40 includes a hook path unit and a tower motor control unit. The lifting hook path unit is used for adjusting the control parameters of the lifting hook according to the environmental data and the motion parameters of the lifting hook. The tower crane motor control unit is used for adjusting control parameters of the corresponding motor according to the environmental data and the motion parameters of at least one target component of the tower crane. The control center 10 controls the environment sensing system 20, the real-time monitoring system 30 and the path planning system 40, and controls the operation of the tower crane according to the adjusted control parameters.
In a further implementation, as shown in fig. 5, the active safety control subsystem 501 includes a tower group collision avoidance detector 5011, and the tower group collision avoidance detector 5011 is configured to provide a collision alert when a distance between the tower cranes is less than a distance threshold based on a motion parameter of at least one of the tower cranes. The active safety control subsystem 501 further comprises a collision risk detector 5012, the collision risk detector 5012 comprising a collision risk preset module, a risk impact factor data acquisition module and a collision risk analysis module; wherein: the collision risk presetting module is used for presetting a collision risk influence factor data threshold in the operation process of at least one tower crane; the risk influence factor data acquisition module is used for acquiring current collision risk influence factor data in the operation process of the target tower crane and sending the current collision risk influence factor data to the collision risk analysis module; the collision risk analysis module is used for analyzing current collision risk influence factor data, and when the current collision risk influence factor data is not within the collision risk influence factor data threshold, the active safety control subsystem controls the tower crane to work according to a preset control instruction. In particular, the height, position of the tower crane and its position data threshold in the construction site can be preset when the collision risk influencing factor data threshold is preset.
In the specific implementation, the recognition function of the tower group anti-collision detector mainly comprises a camera and a gesture sensor, the distance and a moving object are monitored in real time, the system parameters are ensured to run in a reasonable range, and the tower body shake has three main indexes, namely speed, angle and swing range; when three index parameters of the tower body exceed a certain degree and have a overturning risk, the tower crane system prompts people below to evacuate and avoid through sound and light. When the system runs, the system is matched with an environment plan, a main control room is arranged on a construction site, a large screen is arranged, a real-time operation image, detailed parameter information and control buttons of the tower cranes are arranged, a plurality of the tower cranes operate simultaneously, no collision occurs, when the vision is unknown, for example, the operation is performed across floors, the system can be switched to the control of the other tower crane driver by holding the other mobile terminal, namely, two mobile terminals can control one tower crane, and the two mobile terminals need to perform instruction transmission interaction.
In yet a further implementation, as shown in fig. 6, the passive safety control subsystem 502 includes a torque sensor 5021, a frequency converter 5022, a resistance analyzer 5023, a safety controller 5024; wherein: the moment sensor 5021 is used for collecting current moment values of different areas of the target tower crane and sending the current moment values to the resistance analyzer 5023; the frequency converter 5022 is controlled by the safety controller 5024 and is used for receiving a current signal of a traveling motor in the target tower crane and sending the current signal to the resistance analyzer 5023; the resistance analyzer 5023 is used for determining the resistance of the target tower crane after collision according to the current moment value and the current signal; the safety controller 5024 is used for controlling the target tower crane according to the resistance of the target tower crane after collision. The torque sensor may be mounted on or in connection with the main hoisting motor of the target tower crane, as the main hoisting motor is the part of the tower crane that is subjected to the main load when lifting and lowering the load. For example, the torque sensor is directly mounted on the output shaft of the main hoisting motor, and the mounting position can accurately measure the torque output by the main hoisting motor, because the torque sensor is directly related to the power transmission for lifting and lowering cargoes. For another example, a torque sensor may be mounted at or in connection with the gear box of the main hoist motor to monitor the torque transfer process of the main hoist motor. Besides, the torque sensor can be arranged on a connecting part between the main hoisting motor and the winding drum (hoisting rope pulley), and is arranged at the joint of the climbing frame and the upper structure of the tower crane and at the position of the lifting hook, so that the torque of the winding drum, the joint of the climbing frame and the upper structure and the torque of the lifting hook can be accurately measured.
In particular, the method for controlling the target tower crane according to the resistance of the target tower crane after collision comprises the following steps: if the resistance of the target tower crane after collision is in a first preset threshold range, controlling the target tower crane to keep the current speed; if the resistance of the target tower crane after collision is in the second preset threshold range, referring to fig. 7, controlling the target tower crane to decelerate; and if the resistance of the collision of the target tower crane is in a third preset threshold range, controlling the target tower crane to stop. The different preset threshold ranges can be adjusted according to the type of the tower crane, and preferably, when the first preset threshold range is 100% -115% of the original parameters, the target tower crane is controlled to keep the current speed. In particular implementations, the safety controller may work in conjunction with a path planning system. For example, if the safety controller judges that an obstacle exists at the moment, a control command for adjusting the path is sent to the path planning system to avoid the obstacle, the path planning system adjusts when receiving the control command for adjusting the path, and then sends the adjusted path to the safety controller, and the safety controller controls the target tower crane to keep the current speed. The speed control module can be configured in the safety control system and realized by using an accurate speed control algorithm, so that the speed fluctuation of the target tower crane in the avoidance process is avoided.
Still preferably, the target tower crane is controlled to decelerate when the second preset threshold range is 116% -135% of the original parameters. As shown in fig. 7, when the resistance reaches 120% of the original parameters, the target tower crane is controlled to carry out rope paying-off (paying-off) deceleration, so that the target tower crane can be prevented from stopping working in a cutting manner, and the control accuracy and efficiency of the tower crane are improved. Specifically, the resistance of the target tower crane after collision is determined through a current signal on a frequency converter and a current moment value measured by a moment sensor on a lifting hook, the current speed of the rope is reduced through a safety controller by comparing the determined resistance data with original parameters for starting operation, the speed after the current speed is reduced is taken as a first speed, and the current travelling direction of the rope is taken as a first direction; moving at a first speed in a direction opposite to the first direction and finding a target stuck point position; judging whether avoiding is needed at the target stuck point position after the target stuck point position is found, if so, determining a target avoiding path, and controlling the operation of the target tower crane according to the target avoiding path to finish avoiding; after the avoidance is completed, the vehicle moves in a first direction at a first speed. In other words, if the current travel direction is downward, the first direction is upward, and if the current travel direction is upward, the first direction is downward. In the implementation, whether the obstacle exists at the target clamping point position of the rope, the lifting hook and the trolley can be identified by using a camera, a laser sensor or other sensors, and if the obstacle is identified, an avoidance path needs to be determined, so that the rope can bypass the obstacle without collision. The operation according to the avoidance path can be realized by controlling the movements of lifting, stretching, turning and the like of the rope. As a convertible implementation, an automatic avoidance module may also be provided in the safety controller to automatically adjust the rope path based on the sensor data to avoid re-collision, so that a more rapid response may be made to ensure operational safety. In practice, for example, to lift material, a path planning system is required to plan a path before lifting the material, which includes determining the weight, shape and size of the material, and the height and destination of the material lifting, and taking into account environmental conditions and safety requirements of the site. The position of the stuck point is marked on the running track of the tower crane according to the lifting height and the destination of the material, and the marks can be digital reference points or can be realized through digital display on a control panel of an operator of the tower crane. After collision occurs when the target tower crane lifts materials, the rope can accurately reach the target stuck point position through the safety controller, and the horizontal position of the tower crane can be adjusted in the process, and auxiliary equipment can be used, such as a laser range finder or a camera system which can provide real-time feedback and accurate position information, so that the accurate positioning of the target stuck point position can be assisted. These devices can provide real-time feedback and accurate location information.
Further, referring to fig. 8, if the resistance to the collision of the target tower crane is within a third preset threshold range, for example, greater than 135% of the original parameters, the target tower crane is controlled to stop. In practice, an emergency stop button or switch on the target tower crane can be immediately pressed to cut off the power supply and stop the movement of the target tower crane. It will be understood that the magnitude of the resistance and the moment and the load of the target tower crane are related after collision, but the resistance value of the target tower crane is related to the moment when the load is unchanged, fig. 8 shows the processing situation when the detected resistance value exceeds the safety range, and as shown in fig. 8, the resistance reaches 150% of the original parameter, emergency braking is needed, and the target tower crane is controlled to stop immediately. It should be noted that, in general, the total torque of the target tower crane does not exceed the parameters limited by the tower crane manufacturer, the target tower crane needs to perform safety operation under the condition that the parameters are lower than the manufacturer parameters, in the specific implementation process, the safety controller also cooperates with the real-time monitoring system to realize the safety operation through data exchange and information sharing, the safety controller receives monitoring data sent by the real-time monitoring system, such as the motion parameters of the target tower crane, and the safety controller judges whether safety risks exist according to the received data and takes measures according to needs. The real-time monitoring system may also receive instructions from the security controller to adjust the monitoring parameters accordingly. Generally, the security control system is interoperable with other subsystems of the intelligent tower crane control system. In addition, the weight of the load, the length of the suspension arm and external factors need to be carefully considered when the tower crane is controlled so as to ensure that the tower crane can effectively handle various working conditions.
According to the method, the operation range is reasonably planned according to the environmental parameter range during equipment operation, safe operation is guaranteed, the control path is optimized and adjusted in real time in the operation process, the control process is optimized and the operation of the tower crane is controlled, so that potential safety hazards in the whole flow of tower crane control, operation and supervision are reduced to a certain extent, and particularly, the control on the collision prevention and the collision of the tower crane is more comprehensive, fine and safe. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
In some embodiments of the present application, there is further provided a method for controlling an intelligent tower crane according to any one of the embodiments, as shown in fig. 9, including the following steps:
s1, collecting environment data of at least one tower crane;
s2, acquiring motion parameters of at least one tower crane, and monitoring the motion parameters in real time by combining the environmental data;
s3, adjusting control parameters of a tower crane path according to the environmental data and the motion parameters;
and S4, controlling the operation of the tower crane according to the adjusted control parameters.
When the method is implemented, if the resistance of the target tower crane after collision exceeds a first preset value, the target tower crane is controlled to be decelerated, and if the resistance of the target tower crane after collision exceeds a second preset value, the target tower crane is controlled to be stopped, wherein the first preset value and the second preset value can refer to corresponding parameters of the target tower crane in normal operation.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Referring now to fig. 10, there is shown an intelligent tower machine control apparatus 400 provided in some embodiments of the present application, the intelligent tower machine control apparatus comprising: memory 402: for storing executable instructions; processor 401: for interfacing with a memory to execute executable instructions to perform the intelligent tower crane control method described in the various embodiments. The memory 402 stores a computer program executable on the processor 401, and when the processor 401 runs the computer program, the intelligent tower crane control method of any of the intelligent tower crane control systems according to the embodiments of the present application is executed. The control method comprises the following steps: collecting environment data of at least one tower crane; acquiring motion parameters of at least one tower crane, and monitoring the motion parameters in real time by combining the environmental data; adjusting control parameters of the tower crane path according to the environmental data and the motion parameters; and controlling the operation of the tower crane according to the adjusted control parameters.
The memory 402 may include a high-speed random access memory (RAM: random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory. The communication connection between the system network element and the at least one other network element is implemented via at least one communication interface (which may be wired or wireless), the internet, a wide area network, a local network, a metropolitan area network, etc. may be used.
The processor 401 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the methods described above may be performed by integrated logic circuitry in hardware or instructions in software in processor 402. The processor 402 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but may also be a Digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in the memory 402, and the processor 401 reads the information in the memory 402, and combines the hardware to complete the steps of the intelligent tower crane control method of any of the intelligent tower crane control systems in the foregoing embodiments.
The present application further provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the intelligent tower crane control method of any of the foregoing embodiments of the intelligent tower crane control system. Moreover, examples of the computer readable storage medium may include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory, or other optical and magnetic storage medium, which will not be described in detail herein.
In addition, the embodiment of the application further provides a computer program product, which comprises a computer program, and the computer program realizes the steps of the intelligent tower crane control method of the intelligent tower crane control system in any of the foregoing embodiments when being executed by a processor.
Those skilled in the art will appreciate that the various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that some or all of the functions of some or all of the components in the creation means of a virtual machine according to embodiments of the present application may be implemented in practice using a microprocessor or Digital Signal Processor (DSP).
The foregoing is merely a preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the technical scope of the present application should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (9)
1. The intelligent tower crane control system is characterized by comprising a control center, and an environment sensing system, a real-time monitoring system, a path planning system and a safety control system which are connected with the control center; wherein:
the environment sensing system is used for collecting environment data of at least one tower crane;
the real-time monitoring system is used for acquiring the motion parameters of at least one tower crane and monitoring the motion parameters in real time by combining the environmental data;
the path planning system is used for adjusting the control parameters of the target tower crane path according to the environmental data and the motion parameters;
the safety control system is used for controlling a target tower crane when the tower crane is likely to collide and after collision according to the environmental data and the motion parameters, wherein the safety control system comprises an active safety control subsystem and a passive safety control subsystem, the active safety control subsystem is used for controlling the target tower crane when the tower crane is likely to collide according to the environmental data and the motion parameters, and the passive safety control subsystem is used for controlling the target tower crane after collision of the tower crane according to the environmental data and the motion parameters;
the passive safety control subsystem comprises a torque sensor, a frequency converter, a resistance analyzer and a safety controller; wherein:
the moment sensor is used for collecting current moment values of different areas of the target tower crane and sending the current moment values to the resistance analyzer;
the frequency converter is controlled by the safety controller and is used for receiving a current signal of a walking motor in the target tower crane and sending the current signal to the resistance analyzer;
the resistance analyzer is used for determining resistance of the target tower crane after collision according to the current moment value and the current signal;
the safety controller is used for controlling the target tower crane according to the resistance facing the collision of the target tower crane.
2. The intelligent tower crane control system according to claim 1, wherein said controlling said target tower crane according to a resistance to which said target tower crane faces after a collision comprises:
if the resistance of the target tower crane after collision is in a first preset threshold range, controlling the target tower crane to keep the current speed;
if the resistance of the target tower crane after collision is in a second preset threshold range, controlling the target tower crane to decelerate;
and if the resistance of the target tower crane after collision is in a third preset threshold range, controlling the target tower crane to stop.
3. The intelligent tower crane control system according to claim 2, wherein said controlling said target tower crane to slow down comprises:
the current speed of the rope is reduced through the safety controller, the speed after the current speed is reduced is taken as a first speed, and the current travelling direction of the rope is taken as a first direction;
moving in a direction opposite to the first direction at the first speed and finding a target stuck point position;
and moving in the first direction at the first speed after the target stuck point position is found.
4. The intelligent tower crane control system according to claim 3, further comprising, prior to said moving in said first direction at said first speed:
judging whether avoiding is needed at the target stuck point position;
if the collision is needed, determining a target collision path, and controlling the operation of the target tower crane according to the target collision path so as to finish collision;
and executing the step of moving along the first direction after the avoidance is completed.
5. The intelligent tower crane control system according to claim 1, further comprising an operation learning virtual system, a communication detection system, and a maintenance system connected to the control center; wherein:
the operation learning virtual system is used for acquiring at least one tower crane data and simulating a tower crane operation scene for tower crane teaching;
the communication detection system is used for detecting the communication state of the target tower crane in real time;
the maintenance system is used for detecting parameters of at least one part in the target tower crane in real time and reminding maintenance.
6. The intelligent tower crane control system according to claim 1, wherein the active safety control subsystem includes a tower group anti-collision detector for performing a collision alert when a distance between the tower cranes is determined to be less than a distance threshold based on a motion parameter of at least one tower crane.
7. The intelligent tower crane control system according to claim 6, wherein the active safety control subsystem further comprises a collision risk detector comprising a collision risk preset module, a risk impact factor data acquisition module, and a collision risk analysis module; wherein:
the collision risk presetting module is used for presetting a collision risk influence factor data threshold in the operation process of at least one tower crane;
the risk influence factor data acquisition module is used for acquiring current collision risk influence factor data in the operation process of the target tower crane and sending the current collision risk influence factor data to the collision risk analysis module;
the collision risk analysis module is used for analyzing the current collision risk influence factor data, and when the current collision risk influence factor data is not within the collision risk influence factor data threshold, the active safety control subsystem controls the tower crane to work according to a preset control instruction.
8. A method of intelligent tower crane control using the intelligent tower crane control system according to any of claims 1-7, comprising the steps of:
collecting environment data of at least one tower crane;
acquiring motion parameters of at least one tower crane, and monitoring the motion parameters in real time by combining the environmental data;
adjusting control parameters of the tower crane path according to the environmental data and the motion parameters;
and controlling the operation of the tower crane according to the adjusted control parameters.
9. An intelligent tower crane control apparatus, characterized in that the intelligent tower crane control apparatus comprises:
a memory: for storing executable instructions; and
a processor: for interfacing with a memory to execute executable instructions to perform the intelligent tower crane control method of claim 8.
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