Intelligent remote control robot for controlling starting and stopping of building tower crane

Abstract

The invention discloses an intelligent remote control robot for controlling starting and stopping of a building tower crane. The intelligent remote control robot comprises a robot body, a driving module, a control module, a monitoring module, an alarm module and a wireless communication module. The driving module is arranged at the bottom of the robot body, the control module, the monitoring module, the alarm module and the wireless communication module are all arranged on the robot body, and the driving module, the monitoring module, the alarm module and the wireless communication module are all connected with the control module; the driving module is used for driving the robot main body to move under the control of the control module; the monitoring module is used for shooting images around the lower portion of the tower crane and judging whether personnel below the tower crane are located in a safe working area of the tower crane or not. Compared with the prior art, the tower crane has the advantage that the problems that operators cannot conveniently observe the lower part of the tower crane, and the safety of personnel on a construction site is possibly endangered due to the fact that personnel frequently enter and exit from the construction site and the construction is traded when the construction site is not checked can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of construction equipment, and in particular to an intelligent remote-controlled robot for controlling the start and stop of a construction tower crane. Background Art

[0002] Tower crane, also known as tower crane, is a kind of lifting equipment commonly used on construction sites. Its function is to lift the steel bars, wooden planks, concrete, steel pipes and other building materials required for construction. Before each lifting of materials, the hook is first controlled by the pulley to drop to the top of the materials. The materials have been loaded into the sling in the material storage area or packed on the sling in the material storage area. The sling is covered with a steel cable or a connecting structure as the lifting part of the sling. The lifting part is used as a medium for connecting with the hook. The lifting part will be placed on the inner hook surface of the hook, and then the hook is lifted by the pulley, and the lifting part drives the sling and the materials in or on it to rise off the ground.

[0003] During the lifting process, the hoisting equipment carrying the materials is driven by the luffing trolley, slewing mechanism, pulley and other mechanisms to move the hoisting equipment as the lifting piece to the required position. However, during this process, when lifting the goods, objects may fall, and it is inconvenient for the operator to observe the bottom of the tower crane. Since there are frequent people coming in and out of the construction site, if the construction is carried out rashly without checking the construction site, it may endanger the safety of the people on the construction site. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent remote-controlled robot for controlling the start and stop of a construction tower crane in order to solve the problem that it is inconvenient for an operator to observe the bottom of a tower crane, and that the safety of personnel on the construction site may be endangered if construction is carried out rashly without inspecting the construction site because there are frequent people coming and going at the construction site.

[0005] In order to achieve the above-mentioned object, the present invention provides an intelligent remote control robot for controlling the start and stop of a building tower crane, which comprises: a robot body, a driving module, a control module, a monitoring module, an alarm module and a wireless communication module;

[0006] The driving module is arranged at the bottom of the robot body, the control module, the monitoring module, the alarm module and the wireless communication module are all arranged on the robot body, and the driving module, the monitoring module, the alarm module and the wireless communication module are all connected to the control module;

[0007] The driving module is used to drive the robot body to move under the control of the control module;

[0008] The monitoring module is used to capture images of the area below the tower crane to determine whether the personnel below the tower crane are within the safe working area of ​​the tower crane;

[0009] The alarm module is connected to the monitoring module. When the monitoring module detects that the personnel under the tower crane are not in the safe working area of ​​the tower crane, the alarm module issues an alarm reminder.

[0010] The control module is used to determine whether the tower crane is currently suitable for working according to the information sent by the alarm module, and send the working information to the tower crane controller through the wireless communication module, so that the controller determines whether to start according to the working information.

[0011] As a further description of the above technical solution:

[0012] The monitoring module includes a shooting submodule, a detection submodule and a judgment submodule; wherein,

[0013] The shooting submodule is used to shoot images of the surrounding area below the tower crane;

[0014] The detection submodule is used to identify whether there is a fallen object in the image;

[0015] The judgment submodule is used to judge whether the falling object will hurt people.

[0016] As a further description of the above technical solution:

[0017] The judgment submodule uses a target algorithm to track the target of falling objects and model the trajectory of falling objects, tracks the target of people and models the walking trajectory of people to determine whether there is a risk of falling objects injuring people.

[0018] As a further description of the above technical solution:

[0019] The target algorithm is one or more of a mean shift algorithm, a Kalman filter target tracking algorithm, and a particle filter target tracking algorithm.

[0020] As a further description of the above technical solution:

[0021] The shooting submodule is at least one of a laser scanner and a camera.

[0022] As a further description of the above technical solution:

[0023] The driving module is a wheeled mobile mechanism, a footed mobile mechanism or a tracked mobile mechanism.

[0024] As a further description of the above technical solution:

[0025] A fixing component is also provided at the bottom of the robot body, and the fixing component is located at the center of the bottom of the robot body.

[0026] As a further description of the above technical solution:

[0027] The fixing component comprises a cylinder, a mounting plate is arranged on the cylinder, at least two suction cup assemblies are arranged on the mounting plate, and a connecting plate is arranged between the two suction cup assemblies.

[0028] As a further description of the above technical solution:

[0029] The suction cup assembly comprises a connecting rod arranged on the mounting plate, a suction cup is arranged at the bottom of the connecting rod, and two ends of the connecting plate are respectively connected to the corresponding suction cups.

[0030] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0031] 1. In the present invention, by setting up a monitoring module, images of the surrounding area below the tower crane can be captured, the detection submodule can identify whether there are fallen objects in the image, the judgment submodule uses a target algorithm to track the target of the fallen object, and models the trajectory of the fallen object, tracks the target of the personnel, and models the walking trajectory of the personnel to determine whether there is a risk of injury from the fallen object. The alarm module decides whether to issue an alarm prompt message based on the judgment result of the judgment submodule, the control module determines whether the tower crane is currently suitable for work through the warning information, and sends the work information to the controller of the tower crane through the wireless communication module, so that the controller decides whether to start the work based on the work information, thereby improving construction safety and realizing remote control of the start and stop of the tower crane.

[0032] 2. In the present invention, the suction cup assembly is provided so that the robot can be fixed more stably and is not easy to topple over in windy weather. At the same time, the suction cup will naturally rotate when it is loosened or tightened, but the connecting plate limits the relative positions of the two suction cups, thereby avoiding the self-rotation of the suction cup. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0034] Figure 1 The schematic diagram is a structural diagram of an intelligent remote-controlled robot for controlling the start and stop of a construction tower crane.

[0035] Figure 2 The figure is a schematic diagram of the structure of the fixed components in an intelligent remote-controlled robot for controlling the start and stop of a construction tower crane.

[0036] Figure 3 This is a reference diagram of the usage status of an intelligent remote-controlled robot that controls the start and stop of a building crane.

[0037] Figure 4 This is a working principle block diagram of an intelligent remote-controlled robot that controls the start and stop of a construction tower crane.

[0038] Legend:

[0039] 1. Robot body; 2. Driving module; 3. Control module; 4. Monitoring module; 41. Shooting submodule; 42. Detection submodule; 43. Judgment submodule; 5. Alarm module; 6. Wireless communication module; 7. Tower crane; 8. Fixed parts; 81. Cylinder; 82. Mounting plate; 83. Suction cup assembly; 831. Connecting rod; 832. Suction cup; 84. Connecting plate; 9. Controller. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0041] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0043] In the description of the embodiments of the present invention, it should be noted that the terms "upper", "inner", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0044] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] See also Figure 1-4 , the present invention provides an intelligent remote control robot for controlling the start and stop of a building tower crane, comprising: a robot body 1, a driving module 2, a control module 3, a monitoring module 4, an alarm module 5 and a wireless communication module 6;

[0046] The driving module 2 is arranged at the bottom of the robot body 1, the control module 3, the monitoring module 4, the alarm module 5 and the wireless communication module 6 are all arranged on the robot body 1, and the driving module 2, the monitoring module 4, the alarm module 5 and the wireless communication module 6 are all connected to the control module 3;

[0047] The driving module 2 is used to drive the robot body 1 to move under the control of the control module 3;

[0048] The monitoring module 4 is used to capture images of the area below the tower crane 7 to determine whether the personnel below the tower crane 7 are within the safe working area of ​​the tower crane 7;

[0049] The alarm module 5 is connected to the monitoring module 4. When the monitoring module 4 detects that the personnel under the tower crane are not in the safe working area of ​​the tower crane, the alarm module 5 issues an alarm reminder.

[0050] The control module 3 is used to determine whether the tower crane is currently suitable for working according to the information sent by the alarm module 5, and send the working information to the tower crane controller 9 through the wireless communication module 6, so that the controller 9 determines whether to start according to the working information.

[0051] The monitoring module 4 includes a shooting submodule 41, a detection submodule 42 and a judgment submodule 43; wherein,

[0052] The shooting submodule 41 is used to shoot images of the surrounding area below the tower crane;

[0053] The detection submodule 42 is used to identify whether there is a fallen object in the image;

[0054] The judging submodule 43 is used to judge whether the falling object will hurt people.

[0055] The judgment submodule 43 uses a target algorithm to track the target of the falling object and model the trajectory of the falling object, and tracks the target of the person and models the walking trajectory of the person to determine whether the falling object poses a risk of injuring people.

[0056] The judgment submodule 43 uses a target algorithm to track the motion trajectory of falling objects, and establishes a model for the motion trajectory of falling objects, performs target tracking on personnel, and establishes a model for the walking trajectory of personnel to determine whether there is a risk of falling objects injuring people. When there is a risk of falling objects hitting people, the alarm module sends an alarm message. After receiving the alarm message, the control module sends it to the controller of the tower crane through the wireless communication module, and then the controller shuts down the tower crane. The alarm sound emitted by the alarm module reminds personnel to leave the working area of ​​the tower crane. After the personnel arrives at the safe area, the alarm is lifted, and the robot sends the information to the controller through the wireless communication module, thereby controlling the tower crane to start working, so as to achieve accurate early warning and avoid falling objects hitting people below when the tower crane is working, which has better safety.

[0057] The target algorithm is one or more of a mean shift algorithm, a Kalman filter target tracking algorithm, and a particle filter target tracking algorithm, and specifically a Kalman filter target tracking algorithm.

[0058] The shooting submodule 41 is at least one of a laser scanner and a camera, and is specifically a camera.

[0059] The driving module 2 is a wheeled mobile mechanism, a footed mobile mechanism or a tracked mobile mechanism, and is specifically a wheeled mobile mechanism.

[0060] A fixing component 8 is also provided at the bottom of the robot body 1, and the fixing component 8 is located at the bottom center of the robot body 1. The robot can be fixed more stably and is not easy to fall over in windy weather.

[0061] The fixing component 8 includes a cylinder 81, a mounting plate 82 is provided on the cylinder 81, at least two suction cup assemblies 83 are provided on the mounting plate 82, and a connecting plate 84 is provided between the two suction cup assemblies 83. The suction cup assembly 83 includes a connecting rod 831 provided on the mounting plate 82, a suction cup 832 is provided at the bottom of the connecting rod 831, and the two ends of the connecting plate 84 are respectively connected to the corresponding suction cups 832. At the same time, the suction cup self-rotation phenomenon that would otherwise occur when the suction cup is loosened or tightened is avoided because the connecting plate 84 limits the relative position of the two suction cups. The connecting plate 84 is an elastic connecting plate, and the connecting plate is connected to the suction cup by screws.

[0062] Working principle: By setting up the monitoring module, the image around the bottom of the tower crane can be taken. The detection submodule can identify whether there are falling objects in the image. The judgment submodule uses the target algorithm to track the target of the falling object and establishes a model for the trajectory of the falling object. The target tracking of the personnel is carried out, and the model of the walking trajectory of the personnel is established to determine whether there is a risk of injury from the falling object. The alarm module sends an alarm through the warning information according to the judgment result of the judgment submodule. The control module determines whether the tower crane is currently suitable for work through the warning information and sends the work information to the controller of the tower crane through the wireless communication module, so that the controller decides whether to start the work according to the work information, which improves the safety and realizes the remote control of the start and stop of the tower crane. Through the set suction cup assembly, when the robot body moves to the working position, the suction cup contacts the ground when the cylinder drives the mounting plate to descend, and then the suction cup is vacuumed, so that the robot can be fixed more stably and not easily tipped over in windy weather. At the same time, the suction cup will form a self-rotation phenomenon when it is loosened or sucked. Since the connection plate limits the relative position of the two suction cups, the self-rotation phenomenon of the suction cup can be avoided.

[0063] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An intelligent remote control robot for controlling the start and stop of a building crane, characterized in that: include: Robot body, drive module, control module, monitoring module, alarm module and wireless communication module; The driving module is arranged at the bottom of the robot body, the control module, the monitoring module, the alarm module and the wireless communication module are all arranged on the robot body, and the driving module, the monitoring module, the alarm module and the wireless communication module are all connected to the control module; The driving module is used to drive the robot body to move under the control of the control module; The monitoring module is used to capture images of the area below the tower crane to determine whether the personnel below the tower crane are within the safe working area of ​​the tower crane; The alarm module is connected to the monitoring module. When the monitoring module detects that the personnel under the tower crane are not in the safe working area of ​​the tower crane, the alarm module issues an alarm reminder. The control module is used to determine whether the tower crane is currently suitable for operation according to the information sent by the alarm module, and send the operation information to the controller of the tower crane through the wireless communication module, so that the controller determines whether to start according to the operation information.

2. The intelligent remote control robot for controlling the start and stop of a building crane according to claim 1, characterized in that: The monitoring module includes a shooting submodule, a detection submodule and a judgment submodule; wherein, The shooting submodule is used to shoot images of the surrounding area below the tower crane; The detection submodule is used to identify whether there is a fallen object in the image; The judgment submodule is used to judge whether the falling object will hurt people.

3. The intelligent remote control robot for controlling the start and stop of a building crane according to claim 2, characterized in that: The judgment submodule uses a target algorithm to track the target of falling objects and model the trajectory of falling objects, tracks the target of people and models the walking trajectory of people to determine whether there is a risk of falling objects injuring people.

4. The intelligent remote control robot for controlling the start and stop of a building crane according to claim 3, characterized in that: The target algorithm is one or more of a mean shift algorithm, a Kalman filter target tracking algorithm and a particle filter target tracking algorithm.

5. The intelligent remote control robot for controlling the start and stop of a building crane according to claim 2, characterized in that: The shooting submodule is at least one of a laser scanner and a camera.

6. The intelligent remote control robot for controlling the start and stop of a building crane according to claim 1, characterized in that: The driving module is a wheeled mobile mechanism, a footed mobile mechanism or a tracked mobile mechanism.

7. The intelligent remote control robot for controlling the start and stop of a building crane according to claim 1, characterized in that: A fixing component is also provided at the bottom of the robot body, and the fixing component is located at the center of the bottom of the robot body.

8. The intelligent remote control robot for controlling the start and stop of a building crane according to claim 7, characterized in that: The fixing component comprises a cylinder, a mounting plate is arranged on the cylinder, at least two suction cup assemblies are arranged on the mounting plate, and a connecting plate is arranged between the two suction cup assemblies.

9. The intelligent remote control robot for controlling the start and stop of a building crane according to claim 8, characterized in that: The suction cup assembly comprises a connecting rod arranged on the mounting plate, a suction cup is arranged at the bottom of the connecting rod, and two ends of the connecting plate are respectively connected to the corresponding suction cups.

Images