A tower crane intelligent obstacle avoidance hook and its control system

Abstract

The present invention discloses an intelligent obstacle avoidance hook for a tower crane and its control system. The hook and its control system include a hook, a central control processing module and a mobile terminal device, wherein the hook includes a hook body, an obstacle avoidance processing unit, a first communication unit, a first alarm unit and a first power supply, the central control processing module includes a processor unit, a sensor unit, a mechanism drive unit and a second power supply, and the mobile terminal device includes an equipment housing, an industrial control touch display screen, a control handle, a second communication unit and a second alarm unit. The present invention utilizes a binocular depth of field camera, a laser ranging sensor, a height and other sensing devices and a high-performance microprocessor to realize real-time map construction and positioning, automatically plan the optimal transportation path, and autonomously judge and avoid obstacles, thereby saving the number of operators, improving construction efficiency, and having a scientific design and high system stability.

Description

Technical Field

[0001] The invention relates to the field of tower crane auxiliary technology, and in particular to an intelligent obstacle avoidance hook of a tower crane and a control system thereof. Background Art

[0002] Tower cranes (abbreviated as tower cranes) are one of the important tools for vertical and horizontal load transportation in construction. They have the characteristics of large lifting weight, high height and long range. With the full implementation of the national infrastructure, high-rise buildings are becoming more and more dense, and the frequency of cross-operation of tower cranes between construction sites and multiple tower cranes is also increasing. In addition to the possibility of collision and scratching with known obstacles (such as tower cranes, buildings, etc.) during operation, tower cranes may also collide and scratch with unknown and suddenly appearing obstacles (such as people, temporarily stacked materials, etc.), posing a major safety hazard.

[0003] In response to this potential safety hazard, the relevant industry has issued mandatory safety documents, requiring that lifting equipment must be equipped with a tower crane safety monitoring system to monitor the operating status of the tower crane and display the tower crane operating data on the monitoring screen for the driver to assist in driving judgment. Common tower crane safety monitoring systems have information collection and display such as height, amplitude, rotation angle, wind speed, gear position, etc., anti-collision settings between a limited number of tower cranes, and video monitoring such as hook visualization and rope arrangement monitoring. However, this monitoring method only provides a driving reference. The driver checks the monitoring and on-site conditions to determine whether it is dangerous, and then slows down, stops, and avoids it. This is a "passive" monitoring method that cannot automatically avoid emergencies and still has certain safety hazards.

[0004] Patent No. CN209635755U, this utility model patent discloses an unmanned tower crane system, including handheld devices, binocular cameras, image processing host, 3D modeling system, system controller, main control industrial computer and other modules. The system sets binocular cameras and image processing host on the tower crane trolley to collect image data and generate 3D point cloud; the 3D modeling system extracts modeling information from the 3D point cloud and constructs a 3D real scene map; the system controller sends 3D real scene map information to the handheld device and receives the position information and control request information sent by the handheld device, plans the operation path of the tower crane in the 3D real scene map based on this information, and then sends the path confirmation information to the handheld device; the main control industrial computer controls the tower crane to run according to the planned operation path based on the tower crane operation path confirmed by the handheld device. .

[0005] Patent No. CN08750950A provides a tower crane with an automatic driving function and an automatic driving control method thereof. On the basis of the basic structural unit of the traditional manually operated high-altitude tower crane, a radar monitoring unit, a handheld terminal unit, an information transmission unit, a central information processing and automatic driving control unit are added. By combining radar and camera, it is set on the tower crane trolley to measure the distance, radial speed, azimuth, height, etc. of the target and process the data, and then map drawing and environmental positioning, plan the path, avoid various obstacles, and enable the tower crane to successfully complete the transportation task.

[0006] Patent No. CN208994994U discloses a tower crane obstacle avoidance system based on an obstacle avoidance hook. By embedding obstacle avoidance detection units, communication units, controllers and other modules in the detection cavity and ring groove of the hook, it completes the detection of obstacle information, hook movement information, etc., and communicates with the tower crane control system to control the movement of the tower crane. When the obstacle distance exceeds the warning range, the controller can also control the opening of the nozzle solenoid valve embedded in the hook to spray the gas in the compressed air chamber to achieve the purpose of decelerating the hook.

[0007] Although the above-mentioned existing technologies can achieve a certain degree of automatic path planning and obstacle avoidance, the frequency of human participation required for path confirmation is relatively high, and manual confirmation is required every time an obstacle is encountered, that is, it fails to "automatically avoid obstacles" and only "automatically stops" before the path is planned again by humans; the environmental data measurement equipment is installed on the variable-length trolley, and the distance between the measured hoisting weight and the obstacle is too far, and there is a certain lack of accuracy; emergency braking through the jet device is prone to unbalanced force on the hook, resulting in safety accidents such as rotation and scattering of the hoisted objects. Summary of the invention

[0008] The purpose of the present invention is to provide a tower crane intelligent obstacle avoidance hook and its control system. The tower crane intelligent obstacle avoidance hook and its control system according to the present invention are more convenient and intelligent, and use binocular depth of field cameras, laser ranging sensors, height and other sensing equipment and high-performance microprocessors to achieve real-time map construction and positioning, automatically plan the optimal transportation path, and independently judge and avoid obstacles, saving the number of operators and improving construction efficiency. The design is scientific and the system is highly stable. The technical solutions adopted by the present invention are as follows:

[0009] According to one aspect of the present invention, there is provided an intelligent obstacle avoidance hook for a tower crane and a control system thereof, comprising a hook, a central control processing module and a mobile terminal device, wherein the hook comprises a hook body, an obstacle avoidance processing unit, a first communication unit, a first alarm unit and a first power supply, wherein the obstacle avoidance processing unit, the first communication unit, the first alarm unit and the first power supply are all arranged on the hook body, and the obstacle avoidance processing unit, the first communication unit and the first alarm unit are all electrically connected to the first power supply;

[0010] The central control processing module includes a processor unit, a sensor unit, a mechanism driving unit and a second power supply, wherein the processor unit, the sensor unit and the mechanism driving unit are all electrically connected to the second power supply, the processor unit is used to receive signals from the obstacle avoidance processing unit, the mobile terminal device and the sensor unit, the sensor unit is used to, and the mechanism driving unit is used to receive instructions from the processor unit and drive the lifting mechanism, the slewing mechanism and the luffing mechanism of the tower crane;

[0011] The mobile terminal device includes a device housing, an industrial control touch display, a control handle, a second communication unit and a second alarm unit. The industrial control touch display, the control handle, the second communication unit and the second alarm unit are all installed on the device housing. The industrial control touch display is used to display the signals transmitted by the hook and the central control processing module.

[0012] Preferably, the obstacle avoidance processing unit includes a microprocessor, a fixed bracket, a depth of field camera, a locator and a laser ranging sensor, the depth of field camera is connected above the hook body through a fixed bracket, the microprocessor and the locator are installed on the hook body, the laser ranging sensor is installed on the periphery of the hook, and the depth of field camera, the locator and the laser ranging sensor are all communicatively connected to the microprocessor.

[0013] Preferably, the first communication unit comprises a router subunit, and the router subunit is mounted on the hook body.

[0014] Preferably, the first alarm unit includes a first buzzer and a first sound and light alarm, the first buzzer and the first sound and light alarm are both installed on the hook body, and the first buzzer and the first sound and light alarm are both connected to the microprocessor.

[0015] Preferably, the processor unit includes an MCU chip and a WIFI transceiver subunit, and the MCU chip is connected to the microprocessor and the second communication unit respectively through the WIFI transceiver subunit.

[0016] Preferably, the sensor unit includes a height sensor, an angle sensor, an inclination sensor, a weight sensor and a wind speed sensor, and the height sensor, angle sensor, inclination sensor, weight sensor and wind speed sensor are all connected to the MCU chip data via a WIFI transceiver subunit.

[0017] Preferably, the second alarm unit includes a buzzer, an audible and visual alarm, and a vibrator, and the buzzer, the audible and visual alarm, and the vibrator are all data-connected to the second communication unit.

[0018] The above technical solution adopted by the present invention has the following significant effects:

[0019] The present invention utilizes binocular depth-of-field cameras, laser ranging sensors, height and other sensing equipment and high-performance microprocessors to achieve real-time map construction and positioning, automatically plan the optimal transportation route, and independently judge and avoid obstacles, thereby saving the number of operating personnel and improving construction efficiency. It has a scientific design and high system stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a working principle diagram of the present invention;

[0021] Figure 2 It is a structural schematic diagram of the hook of the present invention;

[0022] Figure 3 It is a structural schematic diagram of the control handle of the present invention.

[0023] 1-microprocessor, 2-first communication unit, 3-locator, 4-first power supply, 5-first alarm unit, 6-binocular depth of field camera, 7-laser ranging sensor. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and preferred embodiments. However, it should be noted that many details listed in the specification are only for the purpose of enabling the reader to have a thorough understanding of one or more aspects of the present invention, and these aspects of the present invention can be implemented even without these specific details.

[0025] like Figure 1-2 As shown, according to the present invention, an intelligent obstacle avoidance hook for a tower crane and a control system thereof include a hook, a central control processing module and a mobile terminal device, the hook includes a hook body, an obstacle avoidance processing unit, a first communication unit, a first alarm unit and a first power supply, the obstacle avoidance processing unit, the first communication unit, the first alarm unit and the first power supply are all arranged on the hook body, and the obstacle avoidance processing unit, the first communication unit and the first alarm unit are all electrically connected to the first power supply;

[0026] The central control processing module is arranged at the intersection of the slewing upper support and the root of the balance arm of the tower crane. The central control processing module includes a processor unit, a sensor unit, a mechanism driving unit and a second power supply. The processor unit, the sensor unit and the mechanism driving unit are all electrically connected to the second power supply. The processor unit is used to receive signals from the obstacle avoidance processing unit, the mobile terminal device and the sensor unit. The sensor unit is used to, and the mechanism driving unit is used to receive instructions from the processor unit and drive the lifting mechanism, the slewing mechanism and the luffing mechanism of the tower crane;

[0027] The mobile terminal device includes a device housing, an industrial control touch display, a control handle, a second communication unit and a second alarm unit. The industrial control touch display, the control handle, the second communication unit and the second alarm unit are all installed on the device housing. The industrial control touch display is used to display the signals transmitted by the hook and the central control processing module.

[0028] The obstacle avoidance processing unit includes a microprocessor, a fixed bracket, a depth of field camera, a locator and a laser ranging sensor. The depth of field camera, the locator and the laser ranging sensor are all connected to the microprocessor for communication. The depth of field camera is a binocular depth of field camera, which is arranged above the hook body through a rotatable fixed bracket. The binocular depth of field camera can be selected but not limited to Weijing intelligent line laser binocular stereo camera VZ-ZGY-3000G and ZED binocular camera, which is used to obtain real-time map information and obstacle information of the construction environment, and can achieve 360-degree horizontal rotation through the rotatable fixed bracket to complete the on-site environment. Environmental image data collection; laser ranging sensors are arranged on the four edges of the hook body to obtain the distance information of the hook body in the upward and downward directions; the locator is arranged inside the cavity of the hook body, and the locator can select one of GPS, Beidou positioning module or dual-mode locator to obtain the positioning information of the hook; the microprocessor is arranged inside the cavity of the hook body, and the microprocessor adopts ADAS chip, model S32V234, which is used to process and analyze the data transmitted from the binocular depth of field camera, laser ranging sensor and locator, and output the corresponding control signal according to the set control logic.

[0029] The first communication unit includes a router subunit, which is installed on the hook body. The router subunit is a gigabit router configured with a wireless WiFi function and is used to communicate and connect the microprocessor with the central control processing module and the mobile terminal device.

[0030] The first alarm unit includes a first buzzer and a first sound and light alarm, both of which are installed on the hook body and are data-connected to the microprocessor. The first buzzer and the first sound and light alarm are used to output an alarm prompt signal. When the hook body moves into the obstacle warning range, the microprocessor outputs a warning signal to the first alarm unit, so that the buzzer of the first alarm unit emits intermittent buzzing sounds of consistent length, and the sound and light alarm flashes a red light. When the hook moves into the obstacle warning range, the microprocessor outputs an alarm signal to the first alarm unit, so that the buzzer of the first alarm unit emits rapid buzzing sounds of varying lengths, and the sound and light alarm flashes a red light and broadcasts a message in language.

[0031] The first power supply unit is a detachable charging power supply, which is arranged inside the hook body and is used to supply power to the obstacle avoidance processing unit, the first communication unit and the first alarm unit.

[0032] The processor unit of the central control processing module includes an MCU chip and a WIFI transceiver subunit. The MCU chip is connected to the microprocessor and the second communication unit respectively through the WIFI transceiver subunit. The MCU chip can be selected from but not limited to the STM32F103xD series ARM chip, which is used for data acquisition, data processing, output control and parameter setting; the wireless wifi transceiver module is used to receive data information from the microprocessor, mobile terminal device, and sensor unit, and outputs the information to the mechanism drive unit after being processed by the MCU chip, and feeds back the data signal of the sensor unit and the system operation data to the hook and mobile terminal device.

[0033] The second power supply is a three-phase AC power supply, which is connected to the electric control cabinet at the construction site by a cable. The sensor unit includes a height sensor, an angle sensor, an inclination sensor, a weight sensor and a wind speed sensor. The height sensor, angle sensor, inclination sensor, weight sensor and wind speed sensor are all connected to the MCU chip data through a WIFI transceiver unit. The mechanism driving unit is used to receive instructions from the MCU chip and convert electrical signals to drive the lifting mechanism, slewing mechanism and luffing mechanism of the tower crane.

[0034] The mobile terminal device is a portable wireless terminal used for manual control and monitoring of a tower crane, and includes an industrial control touch display screen, a control handle, a second communication unit and a second alarm unit.

[0035] The industrial control touch screen is used to display the real-time map and three-dimensional presentation of the planned path transmitted by the hook and the central control processing module, data signals of the tower crane's operating height, amplitude, rotation angle, etc., and is used for parameter setting input. It also supports switching between automatic operation and manual control mode selection; in automatic operation mode, the lifting point and stop point are manually selected and input on the real-time map of the interface; in manual control mode, a person controls the control handle to remotely drive the tower crane.

[0036] The control handle is equipped with double handles, which are used for remote control of the tower crane in manual control mode. One handle controls the luffing mechanism and slewing mechanism of the tower crane, and the other handle controls the lifting mechanism.

[0037] The second communication unit is a wireless wifi integrated in the mobile terminal device, which is used to connect the mobile terminal device with the hook and the central control processing module. The second alarm unit includes a buzzer, an audible and visual alarm and a vibrator, which are integrated in the device housing and are used to output an alarm signal to prompt the operator; the driving signal of the second alarm unit comes from the alarm signal of the first alarm unit of the hook. When the hook sends out an alarm signal, the second alarm unit also sends out the same alarm signal. The difference is that the second alarm unit is accompanied by the vibration of the vibrator when it alarms.

[0038] like Figure 3As shown, the operator controls the tower crane to rotate a circle through the control handle of the mobile terminal device, and the hook collects the full-field map information to the microprocessor through the binocular depth of field camera, laser ranging sensor, and locator, and integrates the SLAM algorithm to build a real-time map; the map information is transmitted to the mobile terminal device through the first communication unit, and the operator selects the lifting point and the stop point on the industrial control touch screen of the mobile terminal device. The input information is automatically sent to the microprocessor of the hook, and the microprocessor performs optimal path planning. The path planning result is sent to the mobile terminal device and the central control processing module at the same time; the central control processing module controls the hook to automatically run to the lifting point according to the path information, and after lifting the heavy object, the heavy object is transported along the planned optimal path; if an unexpected obstacle appears on the way, the microprocessor of the hook comprehensively analyzes the hook sensor data and the peripheral sensor information of the central control processor, plans another path to avoid the obstacle, and sends the analysis result to the central control processor to realize automatic deceleration or stop to avoid obstacles, and then runs along another planned path; the hook lifts the heavy object to the stop point, unloads the heavy object, and waits for the next lifting instruction.

[0039] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A tower crane intelligent obstacle avoidance hook control system, characterized in that: It includes a hook, a central control processing module and a mobile terminal device, wherein the hook includes a hook body, an obstacle avoidance processing unit, a first communication unit, a first alarm unit and a first power supply, wherein the obstacle avoidance processing unit, the first communication unit, the first alarm unit and the first power supply are all arranged on the hook body, and the obstacle avoidance processing unit, the first communication unit and the first alarm unit are all electrically connected to the first power supply; The central control processing module includes a processor unit, a sensor unit, a mechanism driving unit and a second power supply, wherein the processor unit, the sensor unit and the mechanism driving unit are all electrically connected to the second power supply, the processor unit is used to receive signals from the obstacle avoidance processing unit, the mobile terminal device and the sensor unit, and the mechanism driving unit is used to receive instructions from the processor unit and drive the lifting mechanism, the slewing mechanism and the luffing mechanism of the tower crane; The mobile terminal device comprises a device housing, an industrial control touch screen, a control handle, a second communication unit and a second alarm unit, wherein the industrial control touch screen, the control handle, the second communication unit and the second alarm unit are all mounted on the device housing, and the industrial control touch screen is used to display the signal transmitted by the hook and the central control processing module; The obstacle avoidance processing unit includes a microprocessor, a fixed bracket, a depth of field camera, a locator and a laser ranging sensor, wherein the depth of field camera is connected to the top of the hook body through the fixed bracket, the microprocessor and the locator are installed on the hook body, the laser ranging sensor is installed on the periphery of the hook, and the depth of field camera, the locator and the laser ranging sensor are all connected to the microprocessor for communication; The hook collects full-field map information to the microprocessor through a depth-of-field camera, a laser range sensor, and a locator, and integrates the SLAM algorithm to build a real-time map; The map information is transmitted to the mobile terminal device through the first communication unit. The operator selects the lifting point and the stopping point on the industrial control touch screen of the mobile terminal device. The input information is automatically sent to the microprocessor of the hook. The microprocessor plans the optimal path, and the path planning results are sent to the mobile terminal device and the central control processing module at the same time; the central control processing module controls the hook to automatically move to the lifting point according to the path information, and after lifting the heavy object, it transports the heavy object along the planned optimal path; if an unexpected obstacle appears on the way, the microprocessor of the hook comprehensively analyzes the hook sensor data and the peripheral sensor information of the central control processor, plans another path to avoid the obstacle, and sends the analysis result to the central control processor to realize automatic deceleration or stop to avoid obstacles, and then runs along another planned path; the hook lifts the heavy object to the stopping point, unloads the heavy object, and waits for the next lifting instruction.

2. The intelligent obstacle avoidance hook control system for a tower crane according to claim 1 is characterized in that: The first communication unit includes a router subunit, and the router subunit is mounted on the hook body.

3. The intelligent obstacle avoidance hook control system for a tower crane according to claim 1 is characterized in that: The first alarm unit includes a first buzzer and a first sound and light alarm, the first buzzer and the first sound and light alarm are both installed on the hook body, and the first buzzer and the first sound and light alarm are both connected to the microprocessor.

4. The intelligent obstacle avoidance hook control system for a tower crane according to claim 1 is characterized in that: The processor unit comprises an MCU chip and a WIFI transceiver subunit, and the MCU chip is connected to the microprocessor and the second communication unit respectively through the WIFI transceiver subunit.

5. The intelligent obstacle avoidance hook control system for a tower crane according to claim 4 is characterized in that: The sensor unit includes a height sensor, an angle sensor, a weight sensor and a wind speed sensor, and the height sensor, the angle sensor, the weight sensor and the wind speed sensor are all connected to the MCU chip data via a WIFI transceiver subunit.

6. The intelligent obstacle avoidance hook control system for a tower crane according to claim 1 is characterized in that: The second alarm unit includes a buzzer, an audible and visual alarm and a vibrator, and the buzzer, the audible and visual alarm and the vibrator are all data-connected to the second communication unit.

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