An unmanned control system for tower cranes

Abstract

An unmanned control system for tower cranes, the system comprising: a cloud server platform, a tower crane remote control terminal. The cloud server platform is respectively connected to a client and a central console through a fifth switch; the cloud server platform is connected to a tower crane monitoring terminal through a communication module; the tower crane monitoring terminal is communicatively connected to a fixed base station. The tower crane monitoring terminal includes a signal and communication part, an operation control part, a video monitoring part, a trolley monitoring part, a hook monitoring part, and a field remote controller. The unmanned control system for tower cranes of the present invention can realize unmanned control of tower cranes, reduce manual operations, reduce the safety risks of drivers, and improve the economic benefits of enterprises.

Description

Technical Field

[0001] The present invention relates to the technical field of tower crane control, and particularly relates to an unmanned control system for tower cranes. Background Art

[0002] The Chinese patent "A Floor-standing Operating System for Tower Cranes" (authorization announcement number: CN206842899 U) records a tower crane operating system, which includes a wireless remote control system and a video monitoring system. The original high-altitude cab of the tower crane is redesigned as a portable console to solve the problem of high-altitude operation in the original design, and the video monitoring system is used to achieve real-time monitoring of dangerous working areas and blind spots. It has the characteristics of remote control operation, reducing the safety risks of operators; and wireless remote control. However, this technical solution has certain drawbacks, mainly manifested in: ① It is aimed at a single tower crane and cannot achieve one person operating multiple tower cranes; ② It has no positioning function; ③ It has no monitoring functions for the swing amplitude of the tower crane hook, stress and strain monitoring, and millimeter-wave radar anti-collision function; ④ It does not have a remote control function. How to improve the working efficiency of tower cranes, achieve one person operating multiple tower cranes, and make tower cranes safer and more efficient is the goal pursued by the unmanned control system for tower cranes. Summary of the Invention

[0003] The present invention provides an unmanned control system for tower cranes, which can realize the unmanned control of tower cranes, reduce manual operations, reduce the safety risks of drivers, and improve the economic benefits of enterprises.

[0004] The technical solution adopted by the present invention is as follows:

[0005] An unmanned control system for tower cranes, the system includes: a cloud server platform, a tower crane remote control terminal;

[0006] The cloud server platform is respectively connected to a client T5820 and a central console CX-LHJBB03 through a switch 5HI-08;

[0007] The cloud server platform is connected to a tower crane monitoring terminal through a 5G communication module CPEPRO;

[0008] The tower crane monitoring terminal is communicatively connected to a GPS fixed base station M300.

[0009] The switch 5HI-08 is connected to a streaming media server DVSCAR-51, and the streaming media server DVSCAR-51 is connected to a splicing screen CB5503S.

[0010] The tower crane monitoring terminal includes a signal and communication part, and the signal and communication part includes a switch 4HI-08,

[0011] The switch 4HI-08 is respectively connected to the 5G communication module CPE PRO and the mobile base station 1CX-E728, and the mobile base station 1CX-E728 is respectively connected to the GPS antenna 1AT300 and the GPS antenna 2AT300;

[0012] The switch 4HI-08 is connected to the torque limiter CX-AV, and the torque limiter CX-AV is connected to the weight sensor SQ-3 and the amplitude sensor CX-FD01;

[0013] The switch 4HI-08 is connected to the anti-collision signal collector CX-KC16, and the anti-collision signal collector CX-KC16 is connected to multiple anti-collision sensors CX-HB100;

[0014] The switch 4HI-08 is respectively connected to the data radio 3SZ02 and the on-site remote control receiver JT-KP.

[0015] The tower crane monitoring terminal further includes an operation control part, and the operation control part includes a PLC controller S7-1500 and a touch screen TCP7062Ti;

[0016] The PLC controller S7-1500 is respectively connected to the left operation handle, the right operation handle, and the touch screen TCP7062Ti;

[0017] The PLC controller S7-1500 is connected to the anti-sway module CX-FY400, and the anti-sway module CX-FY400 is connected to the trolley luffing frequency converter;

[0018] The PLC controller S7-1500 is respectively connected to the hoisting control frequency converter, the left slewing frequency converter, and the right slewing frequency converter;

[0019] The PLC controller S7-1500 is connected to the switch 4HI-08.

[0020] The PLC controller S7-1500 is respectively connected to the wind speed sensor YS-CF, the wire rope wear sensor CX-CP-3A,

[0021] the hook height encoder GM58S10K6MA12WN, and the working surface height sensor HJ-200A.

[0022] The tower crane monitoring terminal further includes a video monitoring part, and the video monitoring part includes a switch 3HI-08;

[0023] The switch 3HI-08 is connected to the switch 4HI-08;

[0024] The switch 3HI-08 is connected to the video recorder DS-7808N-K2, and the video recorder DS-7808N-K2 is connected to the monitor E1715SC.

[0025] The switch 3HI-08 is respectively connected to the hoisting wire rope camera, the luffing wire rope camera, the lower dome camera of the boom, and the lower dome camera of the counterweight boom;

[0026] The switch 3HI-08 is connected to the bridge 4MWB505, the bridge 4MWB505 is connected to the bridge 3MWB505, the bridge 3MWB505 is connected to the switch 2005, and the lower trolley camera CX-SXJ02 is connected to the switch 2005;

[0027] The switch 2005 is connected to the bridge 2MWB505, the bridge 2MWB505 is connected to the bridge 1MWB505, and the bridge 1MWB505 is connected to the switch 1005; both the left hook camera and the right hook camera are connected to the switch 1005.

[0028] The tower crane monitoring terminal further includes a trolley monitoring part, and the trolley monitoring part includes a constant torque power reel YLJ90-3 / 6 and a switch 2005;

[0029] The switch 2005 is respectively connected to the bridge 2MWB505, the hook camera, the bridge 3MWB505, and the mobile base station 2CX-E728; the mobile base station 2CX-E728 is respectively connected to the GPS antenna 2AT300 and the data transmission radio 2SZ02;

[0030] The constant torque power reel YLJ90-3 / 6 is connected to the switching power supply RS-75-12, the switching power supply RS-75-12 is connected to the switch 2005, and the switching power supply RS-75-12 is connected to the wireless charger A-PWS-200-DC-70.

[0031] The tower crane monitoring terminal further includes a hook monitoring part, and the hook monitoring part includes a single-chip microcomputer STM32F101C8T6,

[0032] The single-chip microcomputer STM32F101C8T6 is respectively connected to the anti-collision sensor DYP-A05-V1.0, the human body induction sensor HC-SR501, and the horizontal sensor ZCT215FL-V1;

[0033] The single-chip microcomputer STM32F101C8T6 is connected to the switch 1005, and the switch 1005 is respectively connected to the network camera BS-CA33-IP and the bridge 1MWB505;

[0034] The single-chip microcomputer STM32F101C8T6 is connected to the sound and light alarm LTE-1101J;

[0035] The bridge 1MWB505 is connected to the bridge 4MWB505.

[0036] The hook monitoring part further includes a wireless charging receiver B-PWS-200-DC-70 and a lithium battery DLP-24V;

[0037] The wireless charging receiver B-PWS-200-DC-70 is connected to the lithium battery DLP-24;

[0038] The lithium battery DLP-24V is connected to a battery voltage sensor LTC2944, and the battery voltage sensor LTC2944 is connected to a single-chip microcomputer STM32F101C8T6;

[0039] The single-chip microcomputer STM32F101C8T6 is connected to a control relay ZZ-0071, and the control relay ZZ-0071 is connected to a data transmission radio 1SZ02.

[0040] The unmanned control system of a tower crane according to the present invention has the following technical effects:

[0041] 1). The present invention uses a GIS map to digitalize the tower crane and the site, establishes a digital model of the tower crane and surrounding buildings, and realizes digital control and management based on the digital model;

[0042] 2). The present invention has a remote unmanned remote control function; by setting the starting and landing coordinates of the tower crane on the GIS electronic map, using satellite positioning technology and on-site remote control relay technology, various operation controls such as remote lifting, lowering, slewing, and luffing of the tower crane are realized;

[0043] 3). One person remotely controls the automatic operation of multiple tower cranes, makes full use of the mechanism combining cloud platform remote intelligent control and on-site remote control, realizes the goal of one person remotely controlling multiple tower cranes, and thus effectively reduces the labor cost;

[0044] 4). The present invention has a 5G communication function to ensure that the wireless communication bandwidth meets the requirements of the control system without data congestion and lag;

[0045] 5). The present invention has an anti-sway control function, effectively suppresses the swing amplitude of the tower crane hook through big data and artificial intelligence, and ensures the stable and reliable lifting, luffing and lowering of the tower crane;

[0046] 6). The present invention has a visual function for the trolley operation. A satellite mobile base station and a long-focus camera for monitoring the hook are installed on the trolley. The position of the trolley and the hook can be clearly monitored through the satellite mobile base station on the trolley, and the trolley amplitude, boom angle and minimum safety distance from surrounding obstacles can be clearly judged; the operating conditions of the hook under the trolley can be clearly monitored through the camera;

[0047] 7). The present invention has intelligent functions for the lifting hook. ① Human body induction alarm function: A human body induction sensor is installed on the lifting hook. Through the human body induction sensor, it can be judged whether there is anyone under the lifting hook and whether to decelerate or stop the lowering operation of the control system. ② Video monitoring function under the lifting hook. Through the lifting hook camera, the real-time working conditions under the lifting hook can be monitored from a long distance. ③ Monitoring and alarm function for illegal operations such as horizontal pulling and tilting of the lifting hook. Through the horizontal sensor, it can be judged whether there is any situation when the lifting hook is lifting an object and prevent the monitoring equipment of the lifting hook from being damaged by tilting when the lifting hook lands. ④ Wireless intelligent charging function. When the lifting hook is idle, the PLC controller will command the lifting hook to automatically charge without manual intervention or frequent battery replacement. ⑤ Intelligent power management function for the lifting hook. When the lifting hook is idle, the PLC controller will command the power management relay to act through the wireless data transmission radio station to cut off the power supply circuit, thereby saving power consumption and extending the battery life.

[0048] 8). The present invention has a video monitoring function, including all-round video monitoring under the boom and counterweight boom, video monitoring of the lifting hook operation + video monitoring of the hook head operation, providing a panoramic view of the working conditions of the operation surface under the boom and counterweight boom, the working conditions under the trolley, and the working conditions under the hook head, and providing all-round video support for correctly judging the on-site working conditions.

[0049] 9). The present invention has a tower body anti-overturning alarm function. Using GPS satellite positioning technology, it monitors the inclination of the tower body. When the inclination of the tower body exceeds the set value, it will automatically alarm and automatically control, laying an important safety foundation for the remote control of the tower crane.

[0050] 10). The present invention has an anti-collision alarm function for the boom and lifting hook. Using microwave radar to build a safety protection barrier for the tower crane boom and lifting hook. When an adjacent tower crane moves towards the boom or lifting hook of our tower crane, or when our boom or lifting hook moves towards surrounding buildings, obstacles, adjacent tower cranes, and equipment and enters the safety protection barrier of the boom or lifting hook, the system will alarm and automatically control, thereby preventing the boom and lifting hook from colliding with adjacent tower cranes, surrounding buildings, obstacles, adjacent equipment, etc.

[0051] 11). The present invention has an all-round monitoring function for the safe operation of the tower crane. The system is equipped with a tower crane safety monitoring and management system, a tower crane electrical fault monitoring and alarm system, a tower crane high-strength bolt tightening torque monitoring system, a wire rope wear monitoring and alarm, a stress and strain monitoring system for key parts of the tower crane boom, etc., ensuring that any unqualified or unhealthy part of the tower crane will be real-time feedback on the GIS remote monitoring platform.

[0052] 12). The present invention has functions such as mobile monitoring and querying on mobile phones. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The present invention will be further described below in conjunction with the drawings and embodiments:

[0054] Figure 1 This is the system architecture diagram of the present invention.

[0055] Figure 2 This is the flowchart for the production of the site GIS electronic map.

[0056] Figure 3 This is the schematic diagram of the fixed base station.

[0057] Figure 4 This is the flowchart for the digital modeling of the tower crane boom.

[0058] Figure 5 This is the flowchart for the digital modeling of the surrounding buildings.

[0059] Figure 6 This is the schematic diagram of the unmanned control system for the tower crane of the present invention.

[0060] Figure 7 This is the schematic diagram of the working principle of the tower crane monitoring terminal.

[0061] Figure 8 This is the flowchart for the remote control of the platform and the on-site control.

[0062] Figure 9 This is the schematic diagram of the video monitoring part.

[0063] Figure 10 This is the schematic diagram of the monitoring and alarm for the inclination of the tower body.

[0064] Figure 11 This is the schematic diagram of the electronic anti-sway of the tower crane boom.

[0065] Figure 12 This is the schematic diagram of the secondary acceleration and secondary deceleration.

[0066] Figure 13 This is the schematic diagram of the active anti-collision alarm for the tower crane boom.

[0067] Figure 14 This is the schematic diagram of the trolley monitoring part.

[0068] Figure 15 This is the schematic diagram of the hook monitoring part.

[0069] Figure 16 This is the flowchart for the establishment of the electronic safety fence for the surrounding buildings and obstacles. Specific implementation manner

[0070] An unmanned control system for tower cranes uses the SOA technology architecture and B / S structure to build an unmanned remote control management platform for tower cranes. By utilizing GIS electronic information technology, big data, and AI technology, it establishes a digital and visual foundation for the automatic control of tower cranes. Then, advanced means such as GPS positioning, anti-sway control, and 5G communication are adopted to achieve remote control, automatic positioning, spatial anti-collision, and intelligent hook recognition of tower cranes, thus realizing the unmanned control of tower cranes. The system architecture is as shown in Figure 1 shown. The system is divided into three parts: data acquisition control and alarm part, cloud server platform part, and management control part. The data acquisition control and alarm part mainly consists of various sensors, PLCs, frequency converters, touch screens, remote controls, etc., and is mainly responsible for tower crane information acquisition and on-site control. The cloud server platform part mainly consists of a GIS electronic map, cloud server, database, etc., and is mainly responsible for providing GIS electronic map support, cloud computing, and AI computing support services for the intelligent control terminal of the tower crane, and laying a foundation for reliable data storage, data analysis, etc. The management control part is mainly responsible for the remote operation, control, query, supervision, etc. of the tower crane, thus realizing the unmanned control of the tower crane, reducing manual operations, reducing the safety risks of drivers, and improving the economic benefits of enterprises.

[0071] Realization of the functions of each part:

[0072] 1: Development of the site GIS electronic map: First, CAD maps of the construction site, equipment, buildings, etc. are provided. Based on this, the MO (Map Objects) component-based GIS software of the American ESRI company is used in the present invention to organize and manage vector data and image data in the form of files, so as to display multi-source spatial data in the same environment and realize the operation functions of geographical spatial data. Then, an oracle database is established, and the graphics and attribute data are linked by ID to realize the comprehensive application of spatial information and attribute information. Using Microsoft VB (Visual Basic) Enterprise Edition as the software development tool, combining the GIS functions of MO and the oracle relational database management functions, a system user interface is established, providing system tools such as browsing, querying, statistics, calling, and mapping of spatial and attribute data, and realizing an application platform for real-time, dynamic navigation positioning, display, storage, and publishing of various equipment in the site. The production process of the site GIS electronic map is as shown in Figure 2 shown.

[0073] 2: Digital modeling processing of tower cranes:

[0074] After the electronic map design is completed, the tower crane can be digitally modeled using the electronic map, and then solidified and numbered and stored in the database.

[0075] 2.1: Establishment of a fixed base station:

[0076] First, install a satellite positioning fixed base station M300 on the roof of an open space within 75 KM of the tower crane construction site (preferably in the center of the site). Connect a satellite positioning antenna AT300 and a data transmission radio SZ02 to the fixed base station to improve the positioning accuracy of the satellite positioning receiver of the tower crane mobile base station. The schematic diagram is as Figure 3 shown.

[0077] 2.2 Digital modeling of the tower crane boom:

[0078] Two mobile base stations CX-E728 for satellite positioning of the tower crane intelligent control terminal (one CX-E728 mobile base station for luffing jib tower crane; two CX-E728 mobile base stations for flat jib tower crane); for the luffing jib tower crane, install the CX-E728 mobile base station in the intelligent control cabinet on the counterweight arm platform; for the flat jib tower crane, install one CX-E728 mobile base station in the intelligent control cabinet on the counterweight arm platform, and install the other CX-E728 mobile base station host on the trolley; the luffing jib tower crane uses two GPS positioning antennas AT300, one GPS positioning antenna AT300 is installed at a suitable position on the tower crane slewing center, and the other is installed at the head of the boom; the flat jib tower crane uses three GPS positioning antennas AT300, one is installed on the tower crane slewing center line, the other is installed at the head of the boom, and the third antenna AT300 is installed on the upper trolley; after the satellite positioning equipment is installed, use the handheld positioning instrument G200 to calibrate the length and width of the tower crane counterweight arm and the boom, then digitize it on the map with a theodolite, and then use the program to solidify the digitized tower crane number and store it in the database for calling when in use; the flow chart is as Figure 4 shown.

[0079] 2.3 Digital modeling of surrounding buildings:

[0080] If the customer has CAD drawings, the CAD drawing dimensions can be directly used for modeling. If there are no CAD drawings, manual measurement and modeling are required. The method is: use the handheld positioning instrument G200 to calibrate the length and width of the building, then digitize it on the map with a theodolite, and then use the program to solidify the digitized building number and store it in the database for calling when in use. The flow chart is as Figure 5 shown.

[0081] 3. Realization of the tower crane unmanned control function:

[0082] 3.1 Working principle of the tower crane unmanned control system:

[0083] Composition of the unmanned control system for tower cranes: The system consists of 12 parts, namely, a cloud server platform containing a site electronic map, an internet network, a client T5820, a central console CX-LHJBB03, a streaming media server DVSCAR-51, a splicing screen CB5503S, a tower crane remote control terminal S7-1500, a GPS fixed base station M300, a trolley monitoring part CX-E728, a hook monitoring part STM32M101C8T6, a site remote control JT-KP, a video monitoring part CX-SXJ03, and a 5G communication part CPEPRO. The schematic diagram is as Figure 6 shown.

[0084] During operation, the operator issues various remote control commands to the tower crane monitoring terminal S7-1500 through the client T5820 or the central console CX-LHJBB03, via the GIS monitoring platform to the internet network, and then to the 5G communication module CPEPRO. The GIS monitoring cloud platform forwards the commands to the tower crane monitoring terminal S7-1500 through the 5G communication module CPEPRO, and the tower crane monitoring terminal S7-1500 executes according to the commands of the client T5820. After the hook reaches the position, the on-site rigger operates the remote control JT-KP to lower the hook to an appropriate position, and then raises the hook through the on-site remote control JT-KP. Then, it is automatically handed over to the GIS monitoring platform to control the hook to the designated location. When the GPS fixed base station M300 is working, it continuously communicates the satellite positioning information it receives with the mobile base station 1 CX-E728 and the mobile base station 2 CX-E728 of the tower crane control terminal, and continuously sends its own coordinates to the mobile base station 1 CX-E728 and the mobile base station 2 CX-E728. The mobile base station 1 CX-E728 and the mobile base station 2 CX-E728 continuously correct their own coordinates, thereby improving the accuracy of the tower crane position and the trolley position for use by the tower crane control system for positioning. The sensors and cameras of the hook monitoring part and the trolley monitoring part all serve the unmanned control system of the tower crane. They all send the monitoring information they obtain to the tower crane monitoring system S7-1500. While using the tower crane monitoring system, it will feedback the information to the cloud server platform through the 5G communication module CPEPRO. The operator of the client T5820 obtains the current working status of the tower crane through the cloud platform, and then analyzes, judges, and decides the next operation control strategy.

[0085] 3.2. Working principle of the intelligent control terminal of the tower crane:

[0086] Composition of the tower crane monitoring terminal: It consists of a signal and communication part, an operation control part, a video monitoring part, a trolley monitoring part, a hook monitoring part, a site remote control, etc. The schematic diagram is as Figure 7 shown.

[0087] The signal and communication part consists of 5G communication module CPE PRO, tower crane mobile base station 1CX-E728, GPS antenna 1AT300, GPS antenna 2AT300, torque limiter CX-AV, weight sensor SQ-3, amplitude sensor CX-FD01, anti-collision signal collector CX-KC16, anti-collision sensor CX-HB100, data transmission radio 3SZ02, on-site remote control receiver JT-KP, switch 4HI-08, wind speed sensor YS-CF, height encoder GM58S10K6MA12WN, etc.

[0088] The operation control part consists of: PLC controller S7-1500, touch screen TCP7062Ti, left operation handle, right operation handle, anti-sway module CX-FY400, hoisting control frequency converter AV930, trolley luffing frequency converter AV930, left slewing frequency converter AV930, right slewing frequency converter AV930, etc. The on-site remote controller is JT-KP.

[0089] During operation, the operator in the control center first conducts a patrol inspection of the construction operation area through the splicing screen CB5503S via the internet network, 5G communication module CPEPRO, switch 4HI-08, switch 5HI-08, and the PTZ camera DHK-EX300 for the remote control of the boom and counterweight, observing whether there are any scenarios at the construction site that do not conform to remote unmanned operation. If there are no abnormal situations, the coordinates from the starting point to the landing point of each tower crane to be operated and the height of the hook handover point can be set on the site electronic map of the GIS monitoring and management platform through the client T5820 to enable it to enter the automatic mode. Then, the setting results are sent from the GIS monitoring and management platform to the 5G communication module CPEPRO via the internet network. The 5G communication module CPEPRO then forwards the command to the PLC controller S7-1500 through the switch 4HI-08. The S7-1500 further forwards the command to the touch screen TCP7062Ti. The touch screen TCP7062Ti issues control commands according to the program design, driving the hoisting frequency converter ATV930 through the PLC controller to lift the hook to the specified height. The height value is fed back by the height encoder GM58S10K6MA12WN to stop. Then, the PLC controller S7-1500 drives the left or right slewing frequency converter ATV930 to slewing the boom to the specified angle. The slewing angle value is fed back by the GPS positioning antenna 2AT300 of the trolley mobile base station 2CX-E728. Then, the PLC controller S7-1500 drives the hoisting frequency converter ATV930 to reverse to lower the hook to the set height. The height value is fed back by the height encoder GM58S10K6MA12WN and then stops. At this time, the touch screen TCP7062Ti gives a command to the PLC to alarm the red warning light LTE1101J. When the rigger hears the alarm sound of the hook arriving, he operates the on-site remote control JT-KP to place the hook in a suitable position for hanging the wire rope.After the rigger finishes tying and hooking the lifted items and materials, operate the lifting button of the remote controller JT-KP, and the hook will slowly rise. When it reaches the set height, after the height value is fed back by the height encoder GM58S10K6MA12WN, the hook enters the automatic operation mode. According to the program settings, under the heavy load condition, the PLC controller S7-1500 will drive the trolley luffing frequency converter ATV930 to move the trolley to a suitable position at the root of the boom. The position data is fed back by the GPS positioning antenna 2AT300 of the mobile base station 2CX-E728 on the trolley. Then the PLC controller S7-1500 drives the left / right slewing frequency converter ATV930 to slewing the boom to the set position. The slewing angle is fed back by the GPS positioning antenna 2AT300 of the mobile base station 2CX-E728 on the trolley. Then the PLC controller S7-1500 drives the trolley frequency converter ATV930 to luff and move, hoist the materials or items to the designated position. The position data is fed back by the GPS positioning antenna 2AT300 of the mobile base station 2CX-E728 on the trolley. Then lower the hook to the set height, and the height value is fed back by the height encoder GM58S10K6MA12WN. At this time, the touch screen TCP7062Ti will give a command to the PLC to make the red alarm light LTE1101J alarm, waiting for the end rigger to receive the hook materials through the remote controller JT-KP for unloading operation. After completion, press the lifting button of the remote controller JT-KP, and the hook will enter the second cycle of operation.

[0090] 4. Realization of the function of one person controlling multiple tower cranes:

[0091] As can be seen from the working principle of the above tower crane unmanned control system, the tower crane unmanned control system consists of a cloud server platform + a control terminal + a local remote controller. When the tower crane is under unmanned control, the operator at the central console sets the lifting point coordinates and the landing point coordinates of each tower crane through the client T5820 on the GIS monitoring and management platform in the control center, and then sends the command to the tower crane control terminal through the 5G communication module CPEPRO. The intelligent control terminal of the tower crane enters the automatic operation mode according to the command, and the intelligent control terminal of the tower crane will control the tower crane to operate back and forth according to the program settings. When each tower crane reaches the starting point coordinates, the hook will automatically stop, and the subsequent operation is handed over to the on-site rigger. The on-site rigger operates the remote controller JT-KP to lower the hook to the appropriate position, hook up the on-site materials, and then press the lifting button of the remote controller JT-KP, and the hook will slowly rise. When it reaches the set height, the PLC S7-1500 of the tower crane control terminal will drive the slewing frequency converter to command the tower crane to automatically slew. After automatically reaching the end point coordinates, it waits for the command of the landing rigger. The landing rigger commands whether the hook descends or stops through the remote controller JT-KP. When the materials are lowered, the landing rigger presses the button of the remote controller JT-KP to lift, the hook automatically rises, and then returns to the starting point coordinates according to the program settings for the next cycle of operation. In this way, each time the tower crane operator only needs to set the lifting point coordinates and the landing coordinates of each tower crane on the GIS monitoring and management platform and let it enter the automatic operation mode, and the tower crane will operate back and forth according to the process; at this time, the operator only needs to monitor the operation of each tower crane on the splicing screen. The relay operations at the starting point and the landing point are all completed by the on-site rigger through the on-site remote controller JT-KP. In this way, one operator can operate and control the operation of multiple tower cranes. The flow chart of the tower crane unmanned control is as Figure 8 shown.

[0092] 5. Implementation of the tower crane video monitoring function:

[0093] The video monitoring part consists of: left hook camera BS-CA33-IP, right hook camera BS-CA33-IP, switch 1005, bridge 1MWB505, bridge 2MWB505, trolley lower camera CX-SXJ02, switch 2005, bridge 3MWB505, bridge 4MWB505, under-jib dome camera DHK-EX300, under-counterweight dome camera DHK-EX300, hoisting wire rope monitoring camera BS-CA33-IP, luffing wire rope BS-CA33-IP, switch 3HI-08, video recorder DS-7808N-K2, monitor E1715SC, switch 4HI-08, 5G communication module CPEPRO, switch 5HI-08, client T5820, streaming media server DVSCAR-51, splicing screen CB5503S, etc. The schematic diagram is asFigure 9 as shown

[0094] During operation, the left hook camera BS-CA33-IP and the right hook camera BS-CA33-IP continuously send the collected video signals to the switch 1005. The switch 1005 sends the video signals to the bridge 1MWB505. The bridge 1MWB505 wirelessly sends the video signals to the bridge 2MWB505. The bridge 2MWB505 then sends the signals to the switch 2005. The switch 2005 sends the signals to the bridge 3MWB505. The bridge 3MWB505 wirelessly sends the signals to the bridge 4MWB505. The bridge 4MWB505 sends the signals to the switch 3HI-08. The switch 3HI-08 sends the signals to the video recorder DS-7816N-K2 for storage and simultaneously to the monitor E7-E1715SC. One path is sent to the switch 4HI-08. The switch 4HI-08 sends the signals through the 5G communication module OPEPRO to the switch 5HI-08. The switch 5HI-08 sends the signals to the streaming media server DVSCAR-51. The streaming media server DVSCAR-51 sends the signals to the splicing screen CB5503S for display for the operator to monitor. The video signals of the camera CX-SXJ02 under the trolley are sent from the switch 2005 to the bridge 3MWB505. The bridge 3MWB505 wirelessly sends the signals to the bridge 4MWB505. The bridge 4MWB505 sends the signals to the switch 3HI-08. The switch 3HI-08 sends the signals to the video recorder DS-7816N-K2 for storage and simultaneously to the monitor E7-E1715SC. One path is sent to the switch 4HI-08. The switch 4HI-08 sends the signals through the 5G communication module OPEPRO to the switch 5HI-08. The switch 5HI-08 sends the signals to the streaming media server DVSCAR-51. The streaming media server DVSCAR-51 sends the signals to the splicing screen CB5503S for display for the operator to monitor. The video signals of the PTZ camera DHK-EX300 under the boom, the PTZ camera DHK-EX300 under the counterweight boom, the hoisting wire rope monitoring camera BS-CA33-IP, the luffing wire rope camera BS-CA33-IP, etc. are sent through the switch 3HI-08 to the video recorder DS-7808N-K2. The video recorder DS-7808N-K2 stores the signals and simultaneously sends them to the monitor E1715SC for display. Another path is sent to the switch 4HI-08. The switch 4HI-08 sends the signals to the 5G communication module CPEPRO. The 5G communication module CPEPRO sends the signals through the network to the switch 5HI-08. The switch 5HI-08 sends the signals to the streaming media server DVSCAR-51. The streaming media server DVSCAR-51 then sends the signals to the splicing screen CB5503S for display for the operator to monitor.The operation and control of the PTZ camera DHK-EX300 under the boom and the PTZ camera DHK-EX300 under the counterweight boom are completed by the client T5820. When the operator needs to operate the PTZ camera DHK-EX300 under the boom and the PTZ camera DHK-EX300 under the counterweight boom, commands are issued through the client T5820, enter the network through the switch 5HI-08, and then from the 5G communication module CPEPRO to the switch 4 HI-08 and then to the switch 3HI-08, and then drive the PTZ camera DHK-EX300 under the boom or the PTZ camera DHK-EX300 under the counterweight boom respectively, so as to realize the all-round video monitoring of the working surface under the tower crane.

[0095] 6. Implementation of the tower body inclination monitoring and alarm function:

[0096] Whether the tower body verticality meets the tower crane safety standard is the basic condition for the safe operation of the tower crane. If the tower crane foundation sinks, the tower body bolts are loose, the tower crane boom is deformed, the tower crane attachment wall is abnormal, etc., it may cause the tower body to tilt and the tower body verticality to deviate. If the tower body tilt exceeds the specification requirements and the verticality does not meet the standard, there is no basic condition for the remote control of the tower crane. Therefore, a tower body inclination monitoring and alarm system is designed. The tower body inclination monitoring and alarm sensor is the GPS antenna 1AT300 of the tower crane mobile base station 1CX-E728. The GPS antenna 1AT300 is installed at the center of rotation of the tower crane. The coordinate point of the center of rotation of the tower crane is the tower crane verticality base point concerned by the present invention. If the tower crane tilts, the tower crane verticality reference point will shift. Therefore, the inclination of the tower crane can be judged by detecting the offset of the coordinate of the tower crane center of rotation reference point. System composition: The system consists of a GIS monitoring and management platform, a client T5820, a switch 5HI-08, a 5G communication module CPEPRO, a tower crane intelligent monitoring terminal S7-1500, a touch screen TCP7062Ti, a GPS fixed base station M300, a fixed base station GPS antenna AT300, a fixed base station data transmission radio SZ02, a tower crane mobile base station 1CX-E728, a mobile base station GPS antenna 1AT300, a mobile base station data transmission radio 1SZ02, a switch 4HI-08, a PLC controller S7-1500, a touch screen TCP7062Ti, a hoisting control frequency converter AV930, a trolley luffing frequency converter AV930, a left slewing frequency converter AV930, a right slewing frequency converter AV930, etc. The schematic diagram is as Figure 10 shown.

[0097] When working, the GPS antenna 1AT300 of the tower crane mobile base station 1CX-E728 continuously receives the position signal sent from the Beidou satellite, and obtains the GPS coordinate value after differential calculation of the tower crane mobile base station 1CX-E728. At the same time, the tower crane mobile base station 1CX-E728 receives the position signal from the Beidou satellite through the digital radio 4. SZ02 continuously receives the coordinate correction signal received by the fixed base station GPS antenna AT300 sent by the data transmission radio SZ02 from the GPS fixed base station M300. The tower crane mobile base station 1CX-E728 continuously sends the corrected coordinate signal to the 5G communication module CPEPRO through the switch 4HI-08, and the 5G communication module CPEPRO sends it to the GIS monitoring and management platform. The GIS monitoring and management platform continuously compares and calculates the coordinate value sent by the tower crane mobile base station 1CX-E728 with the coordinate of the original reference point according to the program settings. When it is found that the current coordinate value and the original reference point coordinate value are displaced beyond the set range, the alarm signal will be sent to the client T5820 through ietemet and the switch 5HI-08; at the same time, the tower crane intelligent monitoring terminal PLC controller S7-1500 is alarmed through the 5G communication module CPEPRO and the switch 4HI-08. The tower crane intelligent monitoring terminal PLC controller S7-1500 sends the alarm signal to the touch screen TCP7062Ti, and the touch screen TCP7062Ti displays and alarms. If it is found that the displacement between the current coordinate value and the original reference point coordinate value exceeds the set range and reaches the alarm and control level, the GIS monitoring and management platform will alarm the tower crane monitoring terminal PLC controller S7-1500 through the 5G communication module CPEPRO and the switch 4HI-08 while alarming the client T5820. The tower crane monitoring terminal PLC controller S7-1500 sends the alarm signal to the touch screen TCP7062Ti. The touch screen TCP7062Ti will command the tower crane monitoring terminal PLC controller S7-1500 to start the control signal, automatically prohibiting the lifting inverter ATV930, the slewing inverter ATV930, and the amplitude variable inverter ATV930 from working, thereby preventing safety accidents. The alarm can only be lifted when the current coordinate value is consistent with or close to the coordinate value of the original reference point, and the tower crane can work normally.

[0098] 7. Implementation of electronic anti-sway function of tower crane:

[0099] In order to improve the stability of the hook during movement, the present invention installs an anti-sway module CX-FY400 in the trolley variable frequency converter ATV930 circuit to quickly suppress the hook swing and achieve the purpose of rapid lifting;

[0100] System composition: It consists of the client T5820, switch 5HI-08, internet network, site electronic map of the GIS monitoring and management platform, 5G communication module CPEPRO, tower crane mobile base station 1CX-E728, GPS antenna 1AT300, torque limiter CX-AV, weight sensor SQ-3, amplitude sensor CX-FD001, trolley mobile base station 2CX-E728, GPS antenna 2AT300, switch 2SZ02, bridge 3MWB505, bridge 4MWB505, switch 3HI-08, switch 4HI-08, wind speed sensor FS-CF, height encoder GM58S10K6MA12WN, PLC controller S7-1500, touch screen TCP7062Ti, anti-sway module CX-FY400, luffing trolley frequency converter ATV930, on-site remote control receiver JT-KP, etc. The schematic diagram is as Figure 11 shown.

[0101] Before the system works, the speed control of the luffing trolley needs to be programmed according to the working principle of secondary acceleration and secondary deceleration under the conditions of different heights, different lifting weights, different speeds, and different wind speeds of the hook. During operation, make its acceleration - deceleration equal to zero in time, so that most of the swing amplitude of the hook during movement can be basically eliminated; then solidify the program into the anti-sway module CX-FY400. Once the anti-sway mode is enabled during tower crane operation, the program in CX-FY400 will automatically control the luffing frequency converter ATV930 for anti-sway operation, achieving the effect of suppressing the swing amplitude, thereby improving the operation efficiency. The principle of secondary acceleration and secondary deceleration is as Figure 12 shown. Note: Figure 12 In it, V represents speed and T represents running time.

[0102] During operation, the operator is on the client T5820. Through the site electronic map on the GIS monitoring and management platform, the operator sets the working start point coordinates, handover point height, hook running end point coordinates, handover point height, etc. of the tower crane hook for the upcoming construction operation, and then sets it to the automatic mode. At this time, the client T5820 will send the setting results to the tower crane PLC controller S7-1500 through the GIS monitoring and management platform, the internet network, the 5G communication module CPEPRO, and the switch 4HI-08. The tower crane PLC controller S7-1500 then sends the command to the touch screen TCP7062Ti, and the touch screen TCP7062Ti operates and controls the tower crane PLC controller S7-1500 according to the client command in the process of "first slewing, then luffing". When the GPS antennas 1AT300 of the tower crane mobile base station 1CX-E728 and 2AT300 of the trolley mobile base station 2CX-E728 are on the same straight line, the slewing action automatically stops, and then the anti-sway module CX-FY400 is automatically started. The anti-sway module automatically calculates the anti-sway distance according to the end point coordinates, and then automatically calls the anti-sway curve according to the weight of the lifted object, the hook height, the running speed, the environmental wind speed, etc., and automatically drives the luffing frequency converter ATV930 for anti-sway operation.

[0103] 8. Implementation of the active anti-collision alarm function of the tower crane boom:

[0104] System composition: It consists of the client T5820, switch 5HI-08, internet network, GIS monitoring and management platform, 5G communication module CPEPRO, switch 4HI-08, active induction anti-collision sensor TD24GB003, anti-collision signal collector CX-KC16, data transmission radio 3SZ02, PLC controller S7-1500, touch screen TCP7062Ti, slewing frequency converter ATV930, hoisting frequency converter ATV930, etc.

[0105] To prevent safety accidents caused by the collision of the tower crane boom with adjacent tower cranes, surrounding buildings, obstacles, etc., active induction anti-collision sensors TD24GB003 are installed on both sides of the front of the tower crane boom and both sides of the tail of the counterweight arm. It uses the Doppler effect principle to actively detect the phase difference feedback from surrounding buildings, obstacles, etc. through the emitted microwave signals to judge the distance between the tower crane boom and the obstacles, and then sends the collected signals to the anti-collision signal collector CX-KC16. The anti-collision signal collector CX-KC16 sends the sorted signals to the switch 4HI-08, and the switch 4HI-08 sends them to the tower crane monitoring terminal PLCS7-1500. The tower crane monitoring terminal PLCS7-1500 sends them to the touch screen TCP7062ti. After analysis and comparison by the touch screen TCP7062ti, if it is found that the moving distance between the tower crane boom and adjacent tower cranes, surrounding buildings, obstacles, etc. is less than the set value, it will immediately issue a control command to the tower crane monitoring terminal PLCS7-1500 to prohibit the tower crane inverter ATV930 from continuing to rotate in the dangerous direction, and at the same time prohibit the hoisting inverter ATV930 from continuing to perform hoisting operations, thus avoiding major safety accidents caused by the collision of the tower crane boom with adjacent tower cranes, surrounding buildings, obstacles, etc. At the same time, the touch screen TCP7062ti sends the alarm signal to the GIS monitoring and management cloud platform through the 5G communication module CPEPRO, and the GIS monitoring and management cloud platform immediately alarms the client T5820 through the internet network. While the touch screen TCP7062ti issues a control command to the tower crane intelligent monitoring terminal PLCS7-1500, it will also send the alarm signal to the data transmission radio 3SZ02 through the switch 4. The data transmission radio 3SZ02 will send the alarm signal to the controller PLC of the adjacent tower crane. If the adjacent tower crane moves towards our tower crane boom, the controller PLC of the adjacent tower crane will immediately control its rotary inverter to prohibit the adjacent tower crane from continuing to approach the tower crane boom; the schematic diagram is as Figure 13 shown.

[0106] 9. Realization of the visual function of the trolley hook:

[0107] The trolley monitoring part consists of: constant torque power reel YLJ90-3 / 6, switching power supply RS-75-12, wireless charger A-PWS-200-DC-70, switch 2005, mobile base station 2CX-E728, satellite positioning antenna AT300, data transmission radio 2SZ02, bridge 3MWB505, hook camera CX-SXJ02, bridge 2MWB505, etc. The working schematic diagram is as Figure 14 shown.

[0108] During operation, the constant torque power reel YLJ90-3 / 6 sends the AC220V power in the main cabinet to the trolley through the reel. The constant torque motor only provides the winding torque to the reel. When the trolley moves towards the head of the boom, it is the trolley that pulls the reel wire rope cable tied to the trolley to rotate. The reel drives the rotor of the constant torque motor to rotate, thus always maintaining the tension of the cable.

[0109] The cable reel delivers AC220V power. One path goes to the switching power supply RS-75-12, which converts it into DC12V power to supply power to the switch 2005, mobile base station 2CX-E728, GPS positioning antenna 2AT300, data transmission radio 2SZ02, bridge 3MWB505, hook camera CX-SXJ02, bridge 2MWB505, etc. Another path of AC220V goes to the wireless charger A-PWS-200-DC-70 to charge the hook wireless charger B-PWS-200-DC-70. The mobile base station 2CX-E728, GPS positioning antenna 2AT300, and data transmission radio 2SZ02 are responsible for the positioning of the trolley movement and the slewing angle of the boom. The satellite positioning antenna 2AT300 sends the received differential signal to the mobile base station 2CX-E728. After being resolved by the mobile base station 2CX-E728, the positioning signal is sent to the bridge 4MWB505 through the bridge 3MWB505, and then sent to the PLC controller S7-1500 through the switch 3 for the PLC controller S7-1500 to use. At the same time, it goes through the switch 4HI-08 to the 5G communication module CPEPRO and then to the GIS monitoring and management cloud platform. The GIS monitoring and management cloud platform sends it to the client T5820 through IETERNET for the client T5820 to use. The data transmission radio 2SZ02 is responsible for communicating with the fixed base station and continuously receiving the position calibration parameters sent by the fixed base station M300 for the mobile base station CX-E728 to correct the position of the GPS antenna 2AT300. The hook camera CX-SXJ02 is a long-focus camera that can monitor video signals from 0 to 400M. The touch screen TCP7062Ti can automatically focus and adjust the distance of the hook camera CX-SXJ02 according to the hook height signal detected by the hook height encoder GM58S10K6MA12WN, making the video condition under the trolley clearer. The hook camera CX-SXJ02 sends the video signal under the trolley to the bridge 4MWB505 through the bridge 3MWB505, and then through the switch 3HI-08, it is sent to the video recorder DS-7808N-K2 for storage and display in one path; in another path, it goes through the switch 3HI-08 to the switch 4HI-08, then through the 5G communication module CPEPRO to the streaming media server DVSCAR-51, and then the streaming media server DVSCAR-51 sends it to the splicing screen CB5503S for the operator to monitor and query. The bridge 2MWB505 is responsible for receiving the hook monitoring information and forwarding it to the bridge 3MWB505; the bridge 3MWB505 sends it to the bridge 4MWB505.

[0110] 10. Realization of the intelligent hook function:

[0111] Composition of the intelligent hook part: It consists of 4 anti-collision sensors DYP-A05-V1.0, 2 human body induction sensors HC-SR501, 2 network cameras BS-CA33-IP, 1 horizontal sensor ZCT215FL-V1, 1 switch 1005, a single-chip microcomputer STM32F101C8T6, an audible and visual alarm LTE-1101J, a wireless charging receiver B-PWS-200-DC-70, a battery voltage sensor LTC2944, a lithium battery DLP-24V, a control relay ZZ-0071, a data transmission radio 1SZ02, etc. The schematic diagram is as Figure 15 shown.

[0112] When working, the human body induction sensors 1HC-SR501 and 2HC-SR501 are responsible for detecting whether there is anyone under the hook when the hook is approaching the ground. If someone is detected under the hook, the induction signal will be sent to the single-chip microcomputer STM32F101C8T6. The single-chip microcomputer STM32F101C8T6 will send the induction distance and alarm signal to the bridge 1MWB505 through the switch 1005. The bridge 1MWB505 will then send the signal to the bridge 2MWB505 on the trolley. The bridge 2MWB505 will pass through the switch 2005 on the trolley, and the switch 2005 will forward it to the bridge 3MWB505. The bridge 3MWB505 will then transfer the signal to the bridge 4MWB505 through wireless transmission and then reach the cab switch 3HI-08. The cab switch 3HI-08 will transfer the signal to the PLC controller S7-1500. The PLC controller S7-1500 will issue a command according to the program setting to immediately prohibit the hoisting frequency converter ATV930 from continuing to descend, thus protecting the safety of people under the hook. The signal transmission of the horizontal sensor ZCT215FL-V1 also passes through the bridge 1MWB505 to the bridge 4MWB505 and then to the PLC controller S7-1500. The PLC controller S7-1500 will issue a command according to the program setting to immediately prohibit the hoisting frequency converter ATV930 from continuing to descend or prohibit lifting, thus preventing illegal operations. When the hook is moving up and down, the 4 anti-collision sensors DYP-A05-V1.0 are continuously detecting the safety distance from the surrounding obstacles. Once the safety distance between one side of the hook and the surrounding obstacles is less than the set value, the anti-collision sensor DYP-A05-V1.0 on that side will output a digital quantity. The digital quantity signal will enter the single-chip microcomputer STM32F101C8T6. The single-chip microcomputer STM32F101C8T6 will send the induction distance and alarm signal to the bridge 1MWB505 through the switch 1005. The bridge 1MWB505 will then send the signal to the bridge 2MWB505 on the trolley. The bridge 2MWB505 will pass through the switch 2005 on the trolley, and the switch 2005 will forward it to the bridge 3MWB505. The bridge 3MWB505 will then transfer the signal to the bridge 4MWB505 through wireless transmission and then reach the cab switch 3HI-08. The cab switch 3HI-08 will transfer the signal to the PLC controller S7-1500. The PLC controller S7-1500 will issue a command according to the program setting to immediately prohibit the hoisting frequency converter ATV930 from continuing to lift. At the same time, measures can be taken to move the hook in the reverse direction from the alarm side until the anti-collision sensor stops alarming, thus protecting the safety of the hook.Network cameras 1BS-CA33-IP and 2BS-CA33-IP also transmit the collected video signals under the hook head through bridge 1MWB505 to bridge 4MWB505, then to the driver's cab switch 3HI-08. One path goes to the video recorder DS-7808N-K2, and the other path goes through switch 4HI-08 to the 5G communication module CPEPRO and then to the streaming media server DVSCAR-51. The streaming media server DVSCAR-51 then sends it to the splicing screen CB5503S for operators to monitor and query. To ensure that the power supply of the hook device is not cut off, the present invention designs a wireless charging receiver B-PWS-200-DC-70. When the hook is idle, the PLC controller S7-1500 commands the hoisting frequency converter to lift the hook near the boom to dock with the trolley wireless charger A-PWS-200-DC-70 for charging. The charger B-PWS-200-DC-70 outputs a constant voltage and constant current power supply to the lithium battery DLP-24V. When the battery is full, the battery voltage sensor LTC2944 will send the battery voltage signal in real time through the single-chip microcomputer STM32F101C8T6, through bridge 1MWB505 to bridge 4MWB505 and then to the PLC controller S7-1500. The PLC controller S7-1500 will drive the hoisting frequency converter ATV930 to reverse and disconnect from the charging. When the lithium battery DLP-24V is under-voltage, the single-chip microcomputer STM32F101C8T6 will send an alarm signal to the PLC controller S7-1500. The PLC controller S7-1500 will send it to the GIS monitoring and management cloud platform through the 5G communication module CPEPRO, and the GIS monitoring and management cloud platform will then send it to the client T5820. When receiving the working instruction of the remote control JT-KP, the hook can stop charging at any time and be put into work. To save electricity and extend the service life of the battery, the present invention designs an intelligent power control circuit on the hook. When the hook is not working, the PLC controller S7-1500 will send an instruction to the hook data radio 1SZ02 through the data radio 2SZ02. The hook data radio 1SZ02 will send the instruction to control the relay ZZ-0071 to disconnect, and the hook single-chip microcomputer STM32F101C8T6, human body induction sensor HC-SR501, horizontal sensor ZCT215FL-V1, network camera BS-CA33-IP, sound and light alarm LTE-1101J, bridge 1MWB505, etc. will not be powered on, so as to achieve the purpose of saving electricity and extending the service life of the battery.

[0113] 11. Establishment of electronic safety fences for surrounding buildings and obstacles:

[0114] The establishment of the electronic safety fence for buildings, obstacles, high-voltage lines, etc. around the tower crane is achieved through the linkage alarm of the on-site GIS electronic map, database technology, 5G communication module CPEPRO, PLC controller S7-1500 of the tower crane intelligent monitoring terminal, touch screen TCP7062Ti, tower crane mobile base station CX-E728, GPS positioning antenna AT300, etc.; on the GIS electronic map of the cloud service monitoring platform, the prohibited entry areas such as buildings, obstacles, high-voltage lines, etc. are delineated. Once the tower crane boom GPS antenna 2AT300 or the trolley GPS antenna 3AT300 drives into this range, it will trigger an alarm on the GIS monitoring cloud service platform. The GIS monitoring cloud platform will alarm the PLC controller S7-1500 and the touch screen TCP7062Ti of the tower crane intelligent monitoring terminal through the 5G communication module CPEPRO. The touch screen TCP7062Ti will command the PLC controller S7-1500 to stop the rotary frequency converter ATV930 or the luffing frequency converter to continue running, so as to protect the hook on the tower crane boom or trolley from colliding with surrounding buildings, obstacles or high-voltage lines. The modeling flowchart is as Figure 16 shown.

[0115] 12. Implementation of mobile phone mobile monitoring and query functions:

[0116] Mobile phone mobile monitoring and query are realized by binding the cloud server platform with the WeChat mini-program; through the WeChat mini-program, functions such as monitoring and query of the unmanned control of tower cranes can be realized.

Claims

1. An unmanned control system for a tower crane, characterized in that The system includes: a cloud server platform and a tower crane monitoring terminal; the cloud server platform is respectively connected to a client and a central console through a fifth switch; The cloud server platform is connected to the tower crane monitoring terminal through a communication module; The tower crane monitoring terminal is communicatively connected to a fixed base station; Utilize the mechanism of combining remote control of the cloud server platform with on-site remote control to achieve the goal of one person remotely controlling multiple tower cranes; By setting the starting and landing coordinates of the tower crane on the GIS electronic map, and using satellite positioning technology and on-site remote control relay technology, realize the remote lifting, lowering, slewing and luffing operation control of the tower crane, and have the function of remote unmanned remote control; Judge whether there is anyone under the hook by setting a human body induction sensor, and whether to decelerate or stop the lowering operation of the control system; Remotely monitor the real-time working conditions under the hook through a hook camera; Judge whether there is anyone when the hook is lifting an object through a horizontal sensor, and prevent the hook from tilting and damaging the hook monitoring equipment when the hook lands; The tower crane monitoring terminal includes a signal and communication part, and the signal and communication part includes a fourth switch; The fourth switch is respectively connected to a 5G communication module and a first mobile base station, and the first mobile base station is respectively connected to a first GPS antenna and a second GPS antenna; The fourth switch is connected to a torque limiter, and the torque limiter is connected to a weight sensor and a boom length sensor; The fourth switch is connected to an anti-collision signal collector, and the anti-collision signal collector is connected to multiple anti-collision sensors; The fourth switch is respectively connected to a third data radio station and an on-site remote control receiver; The tower crane monitoring terminal further includes an operation control part, and the operation control part includes a PLC controller and a touch screen; The PLC controller is respectively connected to a left operation handle, a right operation handle and a touch screen; The PLC controller is connected to an anti-sway module, and the anti-sway module is connected to a trolley luffing frequency converter; The PLC controller is respectively connected to a hoisting control frequency converter, a left slewing frequency converter and a right slewing frequency converter; The PLC controller is connected to the fourth switch; The PLC controller is respectively connected to a wind speed sensor, a wire rope wear sensor, a hook height encoder and a working surface height sensor; The tower crane monitoring terminal further includes a video monitoring part, and the video monitoring part includes a third switch; The third switch is connected to the fourth switch; The third switch is connected to a video recorder, and the video recorder is connected to a monitor; The third switch is respectively connected to a hoisting wire rope camera, a luffing wire rope camera, a ball machine under the boom and a ball machine under the counterweight arm; The third switch is connected to a fourth network bridge, the fourth network bridge is connected to a third network bridge, the third network bridge is connected to a second switch, and the camera under the trolley is connected to the second switch; The second switch is connected to a second network bridge, the second network bridge is connected to a first network bridge, the first network bridge is connected to a first switch; both the left hook camera and the right hook camera are connected to the first switch; The tower crane monitoring terminal further includes a trolley monitoring part, and the trolley monitoring part includes a constant torque power reel and a second switch; the second switch is respectively connected to a second bridge, a hook camera, a third bridge, and a second mobile base station; the second mobile base station is respectively connected to a GPS antenna and a second data transmission radio; the constant torque power reel is connected to a switching power supply, the switching power supply is connected to the second switch, and the switching power supply is connected to a wireless charger; The tower crane monitoring terminal further includes a hook monitoring part, and the hook monitoring part includes a single-chip microcomputer, The single-chip microcomputer is respectively connected to an anti-collision sensor, a human body induction sensor, and a horizontal sensor; The single-chip microcomputer is connected to a first switch, and the first switch is respectively connected to a network camera and a first bridge; The single-chip microcomputer is connected to an audible and visual alarm; The first bridge is connected to a fourth bridge.

2. The unmanned control system of a tower crane according to claim 1, wherein: The fifth switch is connected to a streaming media server, and the streaming media server is connected to a splicing screen.

3. The unmanned control system for a tower crane according to claim 1, characterized in that: The hook monitoring part further includes a wireless charging receiver and a lithium battery; The wireless charging receiver is connected to the lithium battery; The lithium battery is connected to a battery voltage sensor, and the battery voltage sensor is connected to the single-chip microcomputer; The single-chip microcomputer is connected to a control relay, and the control relay is connected to a first data transmission radio.

4. The tower crane unmanned control method adopting the tower crane unmanned control system according to any one of claims 1 to 3, characterized in that: During the unmanned control of the tower crane, the operator of the central console sets the lifting point coordinates and the landing point position coordinates of each tower crane through the client in the control center via the cloud server platform, and then sends the command to the tower crane monitoring terminal through the communication module. The tower crane monitoring terminal enters the automatic operation mode according to the command, and the tower crane monitoring terminal will control the tower crane to operate back and forth according to the program settings; When each tower crane reaches the starting point coordinates, the hook will automatically stop. The subsequent operations are handed over to the on-site rigger. The on-site rigger operates the remote control to lower the hook to a suitable position, hooks the on-site materials, and then presses the lifting button on the remote control. The hook will slowly rise. When it reaches the set height, the tower crane monitoring terminal will drive the slewing frequency converter to command the tower crane to automatically slew. After automatically reaching the end position coordinates, it waits for the instruction of the landing rigger. The landing rigger commands whether the hook descends and stops through the remote control. When the materials are lowered, the landing rigger presses the button on the remote control to lift, the hook automatically rises, and then returns to the starting point coordinates according to the program settings for the next cycle of operation.

Images