Tower crane remote controller, tower crane remote control system and tower crane remote control method

Abstract

The invention discloses a tower crane remote controller, a tower crane remote control system and a tower crane remote control method, and belongs to the technical field of building machinery. The tower crane remote controller comprises a main controller, a positioning module and a communication module, the positioning module is used for acquiring position information of the tower crane remote controller and sending the position information to the main controller; and the main controller is used for sending the position information to a tower crane controller through the communication module, so that the tower crane controller controls an end effector of the tower crane to run to the position of the tower crane remote controller according to a control instruction based on the position information. The tower crane controller can be positioned to the position of the tower crane remote controller, so that the purpose of automatic operation in the air is achieved, and inconvenience of manual operation of the remote controller under a high tower is avoided. Compared with a manual operation function on an existing tower, the tower crane remote controller can be used for accurately positioning the end executor of the tower crane, and the tower crane remote controller is more accurate than on-tower control.

Description

Technical Field

[0001] The present application relates to the technical field of construction machinery, and in particular to a tower crane remote control, a tower crane remote control system and a tower crane remote control method. Background Art

[0002] The tower crane remote control is a remote device used to control the tower crane hoisting. It allows the operator to operate the tower crane at a safe distance, improving work efficiency and safety.

[0003] When the existing tower crane remote control is used for manual lifting, in many cases, fine control is required throughout the process. For the end positioning link, precise operation is crucial, because even a slight deviation may cause the hoisted items to not be placed accurately, affecting the entire workflow. When the tower crane is not high, it may be feasible to operate it in the air on the ground. For example, in small-scale construction, the height of the tower crane is limited, and the operator on the ground can control the aerial operation relatively well with naked eye observation and experience. However, once the tower crane is very high, it will face many difficulties to control it with a remote control on the ground. For example, due to the long distance, it is difficult for the operator to clearly observe the position of the hook on the top of the tower crane, making it very inconvenient to control it with a remote control.

[0004] Therefore, the existing tower crane remote controller has the problem of inconvenient manual lifting operation. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a tower crane remote control, a tower crane remote control system and a tower crane remote control method, so as to solve the problem of inconvenient manual lifting operation of the tower crane remote control in the prior art.

[0006] In order to achieve the above-mentioned object, the first aspect of the present application provides a tower crane remote control, including: a main controller, a positioning module and a communication module;

[0007] The positioning module is used to obtain the position information of the tower crane remote control and send the position information to the main controller;

[0008] The main controller is used to send the position information to the tower crane controller through the communication module, so that the tower crane controller controls the end effector of the tower crane to run to the position of the tower crane remote control according to the control instruction based on the position information.

[0009] In the embodiment of the present application, the positioning module includes: a differential satellite positioning antenna and a differential satellite positioning mobile station module;

[0010] The differential satellite positioning mobile station module is used to obtain the positioning information of the tower crane remote controller through a differential satellite positioning antenna, and send the positioning information as position information to the main controller.

[0011] In the embodiment of the present application, the positioning module includes: a differential correction module, a differential satellite positioning antenna and a differential satellite positioning mobile station module;

[0012] The differential correction module is used to obtain a differential correction signal and send the differential correction signal to the main controller;

[0013] The main controller is also used to send the differential correction signal to the differential satellite positioning mobile station module;

[0014] The differential satellite positioning mobile station module is used to obtain the positioning information of the tower crane remote control through the differential satellite positioning antenna, determine the position information of the tower crane remote control based on the positioning information and the differential correction signal, and send the position information to the main controller.

[0015] In an embodiment of the present application, the differential correction module includes a first wireless communication antenna and a first wireless communication module;

[0016] The first wireless communication module is used to acquire a satellite positioning signal through the first wireless communication antenna, and to resolve the satellite positioning signal to obtain a differential correction signal.

[0017] In an embodiment of the present application, a display screen is also included, and the main controller is also used to send the position information to the display screen for display.

[0018] In the embodiment of the present application, a positioning sending button is further included, and the main controller is used to obtain a positioning sending instruction through the positioning sending button, and send the position information to the tower crane controller through the communication module in response to the positioning sending instruction.

[0019] In the embodiment of the present application, the main controller is used to obtain a location query request instruction, and in response to the location query request instruction, send the location information to the tower crane controller through the communication module.

[0020] A second aspect of the present application provides a tower crane remote control system, comprising a remote control transmitter, a remote control receiver and a tower crane controller, wherein the remote control receiver is located on the tower crane, and the remote control transmitter is the tower crane remote control described above;

[0021] The remote control transmitter is used to obtain the position information of the remote control transmitter and send the position information to the remote control receiver. The remote control receiver is used to send the position information to the tower crane controller. The tower crane controller is used to control the end effector of the tower crane to run to the position of the remote control transmitter according to the control instructions based on the position information.

[0022] In the embodiment of the present application, a differential satellite positioning base station is also included, and the remote control transmitter is located within the signal coverage range of the differential satellite positioning base station;

[0023] The differential satellite positioning base station is used to obtain satellite positioning signals, solve the satellite positioning signals to obtain differential correction signals, and send the differential correction signals to the remote control transmitter;

[0024] The remote control transmitter is used to obtain positioning information of the remote control transmitter, determine the position information of the remote control transmitter based on the positioning information and the differential correction signal, and send the position information to the remote control receiver.

[0025] The third aspect of the present application provides a tower crane remote control method, which is applied to the above-mentioned tower crane remote control system, comprising:

[0026] The remote control transmitter obtains position information and sends the position information to the remote control receiver;

[0027] The remote control receiver sends the position information to the tower crane controller;

[0028] The tower crane controller controls the end effector of the tower crane to move to the position of the remote control transmitter according to the control instruction based on the position information.

[0029] Through the above technical solution, by setting up a main controller, a positioning module and a communication module; the positioning module obtains the location information of the tower crane remote control and sends the location information to the main controller; the main controller sends the location information to the tower crane controller through the communication module, so that the tower crane controller controls the end effector of the tower crane to run to the location of the tower crane remote control based on the location information according to the control instruction. Compared with the existing tower crane remote control, the tower crane remote control in this embodiment can send the location information of the tower crane remote control, so that the tower crane controller can locate the location of the tower crane remote control, thereby achieving the purpose of automatic operation in the air and avoiding the inconvenience of manual operation of the remote control under the high tower. Compared with the manual operation function on the existing tower, the tower crane remote control can accurately position the end effector of the tower crane, which is more accurate than the control on the tower.

[0030] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0032] Figure 1 The structure block diagram of a tower crane remote controller according to an embodiment of the present application is schematically shown;

[0033] Figure 2 The structural block diagram of a tower crane remote control system according to an embodiment of the present application is schematically shown;

[0034] Figure 3 A structural block diagram of another tower crane remote control system according to an embodiment of the present application is schematically shown;

[0035] Figure 4 The following is a schematic diagram of a flow chart of a tower crane remote control method according to an embodiment of the present application. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0037] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0038] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0039] It should be noted that the tower crane remote control mentioned in this embodiment refers to a tower crane remote control transmitter.

[0040] Please see Figure 1 , Figure 1The structural block diagram of a tower crane remote controller according to an embodiment of the present application is schematically shown. This embodiment provides a tower crane remote controller, including: a main controller, a positioning module and a communication module;

[0041] The positioning module is used to obtain the position information of the tower crane remote control and send the position information to the main controller;

[0042] The main controller is used to send the position information to the tower crane controller through the communication module, so that the tower crane controller controls the end effector of the tower crane to run to the position of the tower crane remote control according to the control instruction based on the position information.

[0043] In this embodiment, the positioning module can be used to locate the position of the tower crane remote control through GPS, Beidou, etc., and the position information can include coordinate information. The main controller can be a device with data processing function, such as a programmable logic controller, an industrial computer, etc. The communication module is used to realize the communication between the tower crane remote control and the tower crane controller. The tower crane remote control and the tower crane controller can be wirelessly connected. Accordingly, the communication module can realize wireless communication, specifically including a wireless communication antenna and a wireless communication module. The wireless communication module sends the position information to the tower crane controller through the wireless communication antenna. In specific implementation, a remote control receiver can be installed on the tower crane to receive the position information sent by the tower crane remote control, and then the remote control receiver forwards the position information to the tower crane controller. After receiving the position information, the tower crane controller automatically runs the end effector to the position sent by the remote control according to the input control instruction and the intelligent lifting control algorithm. At this time, the tower crane remote control can perform manual control of the tower crane. The end effector of the tower crane can be the hook of the tower crane. The tower crane controller can be a controller located on the tower crane or a remote controller, which is used to control the operation of the end effector according to the control instruction. The above intelligent hoisting control algorithm is a pre-set algorithm for realizing automatic movement of the end effector to a specified position. The above intelligent hoisting control algorithm can be realized by using existing technology, and will not be described in detail here.

[0044] In the above implementation process, a main controller, a positioning module and a communication module are set; the positioning module obtains the location information of the tower crane remote control and sends the location information to the main controller; the main controller sends the location information to the tower crane controller through the communication module, so that the tower crane controller controls the end effector of the tower crane to run to the location of the tower crane remote control based on the location information and according to the control instructions. Compared with the existing tower crane remote control, the tower crane remote control in this embodiment can send the location information of the tower crane remote control, so that the tower crane controller can locate the location of the tower crane remote control, thereby achieving the purpose of automatic operation in the air and avoiding the inconvenience of manual operation of the remote control under the high tower. Compared with the manual operation function on the existing tower, the tower crane remote control can accurately position the end effector of the tower crane, which is more accurate than the control on the tower.

[0045] In some embodiments, the positioning module includes: a differential satellite positioning antenna and a differential satellite positioning rover module;

[0046] The differential satellite positioning mobile station module is used to obtain the positioning information of the tower crane remote controller through a differential satellite positioning antenna, and send the positioning information as position information to the main controller.

[0047] In this embodiment, in order to obtain the location information of the tower crane remote controller, the differential satellite positioning mobile station module can obtain satellite signals through the differential satellite positioning antenna to obtain positioning information, and then send the positioning information as the location information to the main controller.

[0048] By acquiring satellite signals through the differential satellite positioning antenna by the differential satellite positioning mobile station module, accurate position information can be obtained, thereby helping the tower crane controller to accurately control the end effector of the tower crane to run to the position of the tower crane remote control.

[0049] In some embodiments, the positioning module includes: a differential correction module, a differential satellite positioning antenna, and a differential satellite positioning rover module;

[0050] The differential correction module is used to obtain a differential correction signal and send the differential correction signal to the main controller;

[0051] The main controller is also used to send the differential correction signal to the differential satellite positioning mobile station module;

[0052] The differential satellite positioning mobile station module is used to obtain the positioning information of the tower crane remote control through the differential satellite positioning antenna, determine the position information of the tower crane remote control based on the positioning information and the differential correction signal, and send the position information to the main controller.

[0053] In this embodiment, in order to improve the accuracy of the position information, it can also be obtained by using a differential satellite positioning system. Specifically, the differential correction (RTCM) signal can be obtained through the differential correction module, and forwarded by the main controller to the differential satellite positioning mobile station module. After the differential satellite positioning mobile station module obtains the RTCM signal, the RTCM signal and the positioning information obtained by itself through the differential satellite positioning antenna are jointly solved to obtain the differential positioning position information, that is, the position information of the tower crane remote control. The above-mentioned solution process belongs to the prior art and will not be repeated here. The above-mentioned differential correction signal can be obtained from a locally set differential satellite positioning base station, or by purchasing a third-party differential information service to obtain RTCM information.

[0054] In the above implementation process, the RTCM signal is a differential correction signal used in satellite navigation systems. RTCM (Radio Technical Commission for Maritime Services) is the Radio Technical Commission for Maritime Services, and the RTCM signal defined by it is intended to improve the positioning accuracy of global navigation satellite systems (such as GPS, Beidou, etc.). Since the differential satellite positioning mobile station module is mainly used to receive correction information and combine it with the satellite signals received by itself to achieve high-precision positioning, the positioning module composed of the differential correction module, the differential satellite positioning antenna and the differential satellite positioning mobile station module can achieve high-precision positioning, thereby obtaining more accurate location information.

[0055] In some embodiments, the differential correction module includes a first wireless communication antenna and a first wireless communication module;

[0056] The first wireless communication module is used to acquire a satellite positioning signal through the first wireless communication antenna, and to resolve the satellite positioning signal to obtain a differential correction signal.

[0057] In this embodiment, the first wireless communication antenna receives a wireless signal, i.e., a satellite positioning signal, and a differential correction signal is obtained by solving the first wireless communication module. In the case where the differential correction signal is obtained from a differential satellite positioning base station set locally, the first wireless communication antenna may be a differential satellite positioning information wireless communication antenna, and the first wireless communication module may be a differential satellite positioning information wireless communication module. In the case where the differential correction signal is obtained by purchasing a differential information service from a third-party communication service provider, for example, the first wireless communication antenna may be a fourth generation mobile communication technology (4th Generation Mobile Communication Technology, 4G) mobile communication antenna, and the first wireless communication module may be a 4G mobile communication module.

[0058] By providing the first wireless communication antenna and the first wireless communication module, it is possible to obtain a wireless signal containing a differential correction signal from a differential satellite positioning base station or a third-party communication service provider, and then obtain a more accurate differential correction signal through calculation.

[0059] In some embodiments, a display screen is also included, and the main controller is further used to send the position information to the display screen for display.

[0060] In this embodiment, the location information is displayed to facilitate the operator to know the location of the tower crane remote controller. When the differential satellite positioning system is used to obtain the location information, the location information also includes the differential positioning state. Accordingly, the display screen can display whether the tower crane remote controller is currently in the differential positioning state, so that the operator can obtain the status of the tower crane remote controller in time.

[0061] In some embodiments, a positioning sending button is further included, and the main controller is used to obtain a positioning sending instruction through the positioning sending button, and send the location information to the tower crane controller through the communication module in response to the positioning sending instruction.

[0062] In this embodiment, after the tower crane remote controller detects that the positioning sending button is pressed, it obtains the positioning sending instruction and then sends the position information to the tower crane remote control receiver. After the tower crane remote control receiver obtains the position information, it forwards it to the tower crane controller.

[0063] By setting the positioning sending button, the operator can send the position information to the tower crane controller according to actual needs, so as to control the tower crane more flexibly.

[0064] In some embodiments, the main controller is used to obtain a location query request instruction, and in response to the location query request instruction, send the location information to the tower crane controller through the communication module.

[0065] In this embodiment, the tower crane controller can send a location query request instruction to the tower crane remote controller, and the tower crane remote controller will send the location information after receiving the location query request. It should be noted that the above query request instruction can also be issued by other devices, and accordingly, the tower crane remote controller will respond to the location query request instruction and send the location information to the corresponding device through the communication module.

[0066] The main controller obtains the position query request instruction and sends the position information to the tower crane controller through the communication module, so as to query the position information of the tower crane remote controller according to the demand. In the case where the query request instruction is issued by other devices, after the position information of the tower crane remote controller is queried, the position of the queried remote controller can be displayed on one end of the other device. Furthermore, the end effector of the tower crane can be controlled from other devices to run to the queried position according to the position information of the tower crane remote controller, so that the control is more flexible.

[0067] The present embodiment provides a tower crane remote control system, including a remote control transmitter, a remote control receiver and a tower crane controller, wherein the remote control receiver is located on the tower crane, and the remote control transmitter is the above-mentioned tower crane remote control; the remote control transmitter is used to obtain position information of the remote control transmitter and send the position information to the remote control receiver, and the remote control receiver is used to send the position information to the tower crane controller, and the tower crane controller is used to control the end effector of the tower crane to run to the position of the remote control transmitter based on the position information.

[0068] In this embodiment, the remote control transmitter is the tower crane remote control, and the remote control receiver and the tower crane controller can be connected through a bus to perform bus communication. The tower crane controller can be a device with data processing functions, such as a programmable logic controller, an industrial computer, etc. The remote control receiver includes a remote control receiver main controller, a tower crane control wireless communication module, a tower crane control wireless communication antenna, a bus communication circuit, a communication, a system operation indicator light, a start, an emergency stop relay, and other parts. The remote control receiver main controller receives the position information of the remote control transmitter sent by the remote control transmitter through the tower crane control wireless communication antenna and the tower crane control wireless communication module, and sends the position information to the tower crane controller through the bus communication circuit. The above-mentioned remote control receiver can be realized by using existing technology, which will not be repeated here. After receiving the position information, the tower crane controller automatically runs the end effector to the position sent by the remote control according to the input control instruction and the intelligent lifting control algorithm. At this time, the tower crane remote control can perform manual control of the tower crane. The end effector of the above-mentioned tower crane can be the hook of the tower crane. The above-mentioned intelligent lifting control algorithm is a pre-set algorithm for realizing the automatic operation of the end effector to the specified position. The above intelligent lifting control algorithm can be implemented using existing technologies and will not be described in detail here.

[0069] The remote control receiver is also used to directly control the start and emergency stop circuits through the start and emergency stop relays. The tower crane controller is also used to send overweight, overtorque and authority signals to the tower crane remote control receiver through the bus, and the tower crane remote control receiver returns them to the remote control transmitter, and the overweight, overtorque and authority indicators of the remote control transmitter are lit accordingly.

[0070] In the above implementation process, a remote control transmitter, a remote control receiver and a tower crane controller are set; the remote control receiver is located on the tower crane, and the remote control transmitter is the above-mentioned tower crane remote control; the remote control transmitter is used to obtain the position information of the remote control transmitter, and send the position information to the remote control receiver, the remote control receiver is used to send the position information to the tower crane controller, and the tower crane controller is used to control the end effector of the tower crane to run to the position of the remote control transmitter based on the position information. The remote control transmitter can send the position information of the remote control transmitter, so that the tower crane controller can locate the position of the remote control transmitter, thereby achieving the purpose of automatic operation in the air and avoiding the inconvenience of manual operation of the remote control transmitter under the high tower. Compared with the manual operation function on the existing tower, the remote control transmitter can accurately position the end effector of the tower crane, which is more accurate than the control on the tower.

[0071] Please see Figure 2 , Figure 2 The structural block diagram of a tower crane remote control system according to an embodiment of the present application is schematically shown. In some embodiments, it also includes a differential satellite positioning base station, and the remote control transmitter is located within the signal coverage range of the differential satellite positioning base station;

[0072] The differential satellite positioning base station is used to obtain satellite positioning signals, solve the satellite positioning signals to obtain differential correction signals, and send the differential correction signals to the remote control transmitter;

[0073] The remote control transmitter is used to obtain positioning information of the remote control transmitter, determine the position information of the remote control transmitter based on the positioning information and the differential correction signal, and send the position information to the remote control receiver.

[0074] In this embodiment, the differential satellite positioning base station is used to obtain a differential correction signal and send the differential correction signal to the remote control transmitter. The differential satellite positioning base station includes a differential satellite positioning antenna, a differential satellite positioning base station module, a main controller of the base station, a differential satellite positioning information wireless communication antenna and a differential satellite positioning information wireless communication module. The differential satellite positioning base station module mainly calculates the RTCM signal from the satellite positioning information obtained from the differential satellite positioning antenna and sends it to the main controller of the base station. The main controller of the base station converts the RTCM signal into a wireless signal through the differential satellite positioning information wireless communication module and sends it to the remote control transmitter through the differential satellite positioning information wireless communication antenna. The main controller of the remote control transmitter obtains the RTCM signal sent by the base station through the differential satellite positioning information wireless communication module and forwards it to the differential satellite positioning mobile station module. After the mobile station module obtains the RTCM signal, it jointly calculates the differential positioning position information with the RTCM and the positioning information obtained by itself through the differential satellite positioning antenna, that is, obtains the position information.

[0075] By setting up a differential satellite positioning base station, the remote control transmitter is located within the signal coverage range of the differential satellite positioning base station. The differential satellite positioning base station is used to obtain satellite positioning signals, resolve the satellite positioning signals, obtain differential correction signals, and send the differential correction signals to the remote control transmitter; the remote control transmitter is used to obtain the positioning information of the remote control transmitter, determine the position information of the remote control transmitter based on the positioning information and the differential correction signal, and send the position information to the remote control receiver. The RTCM signal is a differential correction signal used in satellite navigation systems. Since the differential satellite positioning mobile station module is mainly used to receive correction information and combine it with the satellite signals it receives, high-precision positioning can be achieved, thereby obtaining more accurate position information.

[0076] It should be noted that, in the specific implementation, the local differential satellite positioning base station can also be cancelled, the differential satellite information wireless communication module of the remote control transmitter can be replaced with a 4G mobile communication module, and the differential satellite information wireless communication antenna can be replaced with a 4G mobile communication antenna. By purchasing a third-party differential information service and obtaining RTCM information, high-precision differential positioning can also be achieved. The tower crane remote control system, for example, Figure 3 As shown, Figure 3 The structural block diagram of another tower crane remote control system according to an embodiment of the present application is schematically shown.

[0077] This embodiment provides a tower crane remote control method. Figure 4 , Figure 4 The flowchart of a tower crane remote control method according to an embodiment of the present application is schematically shown. Applied to the above tower crane remote control system, the method comprises the following steps:

[0078] Step 210: The remote control transmitter obtains position information and sends the position information to the remote control receiver;

[0079] In this embodiment, the remote control transmitter may obtain the positioning information of the remote control transmitter, determine the position information of the remote control transmitter based on the positioning information and the differential correction signal, and send the position information to the remote control receiver. Alternatively, the remote control transmitter may obtain the positioning information of the tower crane remote controller, and send the positioning information as the position information to the remote control receiver.

[0080] Step 220: The remote control receiver sends the position information to the tower crane controller;

[0081] In this embodiment, after receiving the position information, the remote control receiver sends the position information to the tower crane controller through the bus communication circuit.

[0082] Step 230: The tower crane controller controls the end effector of the tower crane to move to the location of the remote control transmitter based on the position information and according to a control instruction.

[0083] In this embodiment, by inputting control instructions and following the intelligent lifting control algorithm, the end effector is automatically moved to the position sent by the remote controller, and at this time the tower crane remote controller can perform manual control of the tower crane.

[0084] It should be noted that the remote control transmitter can also receive query request instructions from other remote devices. Accordingly, the remote control transmitter will send the position information to other remote devices in response to the position query request instructions. After receiving the position information, the other remote devices can send control instructions to the tower crane controller according to the position information, thereby controlling the end effector of the tower crane to run to the position of the remote control transmitter, making the control more flexible.

[0085] In the above implementation process, the remote control transmitter obtains the position information and sends the position information to the remote control receiver; the remote control receiver sends the position information to the tower crane controller; the tower crane controller controls the end effector of the tower crane to run to the position of the remote control transmitter according to the control instructions based on the position information. The remote control transmitter can send the position information of the remote control transmitter, so that the tower crane controller can locate the position of the remote control transmitter, thereby achieving the purpose of automatic operation in the air and avoiding the inconvenience of manual operation of the remote control transmitter under the high tower. Compared with the manual operation function on the existing tower, the remote control transmitter can accurately position the end effector of the tower crane, which is more accurate than the control on the tower.

[0086] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0087] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0088] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0089] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0090] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0091] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0092] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0093] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0094] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A tower crane remote controller, characterized in that: include: Main controller, positioning module and communication module; The positioning module is used to obtain the position information of the tower crane remote control and send the position information to the main controller; The main controller is used to send the position information to the tower crane controller through the communication module, so that the tower crane controller controls the end effector of the tower crane to run to the position of the tower crane remote control according to the control instruction based on the position information.

2. The tower crane remote controller according to claim 1, characterized in that: The positioning module includes: a differential satellite positioning antenna and a differential satellite positioning mobile station module; The differential satellite positioning mobile station module is used to obtain the positioning information of the tower crane remote controller through a differential satellite positioning antenna, and send the positioning information as position information to the main controller.

3. The tower crane remote controller according to claim 1, characterized in that: The positioning module includes: a differential correction module, a differential satellite positioning antenna and a differential satellite positioning mobile station module; The differential correction module is used to obtain a differential correction signal and send the differential correction signal to the main controller; The main controller is also used to send the differential correction signal to the differential satellite positioning mobile station module; The differential satellite positioning mobile station module is used to obtain the positioning information of the tower crane remote control through the differential satellite positioning antenna, determine the position information of the tower crane remote control based on the positioning information and the differential correction signal, and send the position information to the main controller.

4. The tower crane remote controller according to claim 3, characterized in that: The differential correction module includes a first wireless communication antenna and a first wireless communication module; The first wireless communication module is used to acquire a satellite positioning signal through the first wireless communication antenna, and to resolve the satellite positioning signal to obtain a differential correction signal.

5. The tower crane remote controller according to claim 1, characterized in that: It also includes a display screen, and the main controller is also used to send the position information to the display screen for display.

6. The tower crane remote controller according to claim 1, characterized in that: It also includes a positioning sending button, and the main controller is used to obtain a positioning sending instruction through the positioning sending button, and send the position information to the tower crane controller through the communication module in response to the positioning sending instruction.

7. The tower crane remote controller according to claim 1, characterized in that: The main controller is used to obtain a location query request instruction, and in response to the location query request instruction, send the location information to the tower crane controller through the communication module.

8. A tower crane remote control system, characterized in that: It comprises a remote control transmitter, a remote control receiver and a tower crane controller, wherein the remote control receiver is located on the tower crane, and the remote control transmitter is a tower crane remote control as claimed in any one of claims 1 to 7; The remote control transmitter is used to obtain the position information of the remote control transmitter and send the position information to the remote control receiver. The remote control receiver is used to send the position information to the tower crane controller. The tower crane controller is used to control the end effector of the tower crane to run to the position of the remote control transmitter according to the control instructions based on the position information.

9. The tower crane remote control system according to claim 8, characterized in that: It also includes a differential satellite positioning base station, and the remote control transmitter is located within the signal coverage range of the differential satellite positioning base station; The differential satellite positioning base station is used to obtain satellite positioning signals, solve the satellite positioning signals to obtain differential correction signals, and send the differential correction signals to the remote control transmitter; The remote control transmitter is used to obtain positioning information of the remote control transmitter, determine the position information of the remote control transmitter based on the positioning information and the differential correction signal, and send the position information to the remote control receiver.

10. A tower crane remote control method, characterized in that: The tower crane remote control system used in any one of claims 8-9 comprises: The remote control transmitter obtains position information and sends the position information to the remote control receiver; The remote control receiver sends the position information to the tower crane controller; The tower crane controller controls the end effector of the tower crane to move to the position of the remote control transmitter according to the control instruction based on the position information.

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