Intelligent automatic lifting control system of building tower crane

Abstract

The invention discloses an intelligent automatic lifting control system of a building tower crane, comprising: a near field communication module for communicating with the tower crane; the obstacle detection module is used for determining whether obstacles exist above and below the tower crane cross arm; the path prediction module is used for predicting the driving path of the vehicle; the information acquisition module is used for generating control information corresponding to the tower crane according to the driving path and the tower crane cross arm information; and the tower crane control processing module is used for issuing a tower crane control message to the corresponding tower crane, and the tower crane control message is used for controlling the tower crane to perform hoisting operation. Compared with the prior art, the position between the cross arms of the adjacent tower cranes can be monitored at any time, mutual collision between the cross arms of the tower cranes is avoided, intelligent control over lifting of the tower cranes is achieved, and safety is high.

Description

Technical Field

[0001] The invention relates to the technical field of building tower cranes, and in particular to an intelligent automatic lifting control system for a building tower crane. Background Art

[0002] Tower crane is the most commonly used lifting equipment on construction sites, also known as "tower crane". It is extended (height) section by section (referred to as "standard section") and is used to lift raw materials such as steel bars, wooden slats, concrete, and steel pipes for construction. The function of the tower crane tip is to bear the upper load transmitted by the boom rope and the balance arm rope, and transmit it to the tower structure through structural components such as the slewing tower, turntable, and bearing. The top of the self-elevating tower has a variety of structural forms such as truncated cone column type, forward or backward truncated cone column type, herringbone type, and diagonal support frame type. All upper slewing tower cranes must be equipped with a counterweight, whose function is to support the counterweight to form the counterweight required in the design and in the opposite direction of the lifting torque. In addition to the counterweight, a lifting mechanism is often installed at the tail of the slewing tower. The hoisting mechanism is placed at the end of the balance arm together with the counterweight, firstly, it can play a part of the counterweight role, and secondly, it can increase the distance between the rope drum and the tower top guide wheel, so as to facilitate the winding of the wire rope and avoid the phenomenon of rope disorder. The amount of counterweight used is inversely proportional to the length of the balance arm, and there is a certain proportional relationship between the length of the balance arm and the length of the crane arm. The counterweight is quite considerable, generally at least 3 to 4 tons for light tower cranes, and nearly 30 tons for heavy tower cranes.

[0003] At present, the intensive construction of urban buildings has made the tower crane operating environment complicated. During the hoisting operation of a construction tower crane group, two or more tower cranes are working in an overlapping manner, and the existing tower crane group hoisting operation is achieved by using the "operator + rigger" combination. This operation method has extremely strict requirements on the comprehensive quality of people. It requires the operator and the rigger to establish a unified relationship and work closely together to complete the hoisting operation. The control process is complicated, the degree of intelligence is low, and it is not economical. In addition, human operation or command errors can easily lead to safety accidents, such as collisions between tower cranes or collisions between tower cranes and surrounding buildings. Summary of the invention

[0004] The invention provides an intelligent automatic lifting control system for a building tower crane, which can monitor the positions between adjacent tower crane cross arms at all times to avoid collision between the tower crane cross arms, thereby realizing intelligent control of the tower crane lifting and lowering with high safety.

[0005] In order to achieve the above object, the present invention provides an intelligent automatic lifting control system for a building tower crane, which comprises:

[0006] A short-distance communication module, wherein the short-distance communication module is used for communicating between the tower cranes;

[0007] Obstacle detection module, used to determine whether there are obstacles above or below the tower crane cross arm;

[0008] A path prediction module, wherein the path prediction module is used to predict the driving path of the vehicle;

[0009] An information acquisition module, the information acquisition module is used to generate control information corresponding to the tower crane according to the driving path and tower crane cross arm information;

[0010] The tower crane control processing module is used to send a tower crane control message to the corresponding tower crane, and the tower crane control message is used to control the tower crane to perform a lifting operation.

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

[0012] The path prediction module includes a vehicle information module and a vehicle path planning module. The vehicle information module is used to record vehicle information and match the corresponding tower crane through the vehicle information. The vehicle path planning module plans the vehicle's driving path and driving speed according to the vehicle information.

[0013] As a further description of the above technical solution:

[0014] The short-range communication module includes a detection module and a trigger module. When the adjacent tower cranes are close to each other, the trigger information sent by the trigger module on the tower crane is received by the detection module on the adjacent tower crane, and there is an intersection area between the two tower cranes; when the adjacent tower cranes are close to each other, the trigger information sent by the trigger module on the tower crane cannot be received by the detection module on the adjacent tower crane, and there is no intersection area between the two tower cranes.

[0015] As a further description of the above technical solution:

[0016] The short-range communication module also includes a marking module, and the marking module is used to mark the corresponding tower crane.

[0017] As a further description of the above technical solution:

[0018] The mark includes the number and location information of the tower crane.

[0019] As a further description of the above technical solution:

[0020] The short-range communication module is a Lora module, and the communication modules between the tower cranes exchange data through the Lora protocol.

[0021] As a further description of the above technical solution:

[0022] The communication range of the short-range communication module is a circle with the length of the tower crane cross arm as the diameter.

[0023] As a further description of the above technical solution:

[0024] The obstacle detection module includes an upper obstacle detection module and a lower obstacle detection module. The upper obstacle detection module is used to detect whether there is an obstacle above the tower crane cross arm, and the lower obstacle detection module is used to detect whether there is an obstacle below the tower crane cross arm. The information acquisition module is used to control the lifting and lowering movement of the tower crane cross arm based on the information of the obstacle detected by the upper obstacle detection module and the lower obstacle detection module.

[0025] In summary, due to the adoption of the above-mentioned technical scheme, the beneficial effects of the present invention are: through the short-range communication module, when adjacent tower cranes are close to each other, the trigger information sent by the trigger module on the tower crane is received by the detection module on the adjacent tower crane, and there is an intersection area between the two tower cranes; when adjacent tower cranes are close to each other, the trigger information sent by the trigger module on the tower crane cannot be received by the detection module on the adjacent tower crane, and there is no intersection area between the two tower cranes, and the height difference between the adjacent tower cranes is determined by the obstacle detection module, so as to achieve the purpose of always monitoring the position of the tower crane cross arm, and then the lifting and lowering of the tower crane cross arm can be intelligently controlled, and the safety is good; according to the walking path of the vehicle and the tower crane cross arm information, the control information of the corresponding tower crane is generated, and the tower crane is controlled to operate through the control information, so as to realize the linkage control of the vehicle and the tower crane, thereby improving the control efficiency of the tower crane and improving the operation efficiency of the tower crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. 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.

[0027] Figure 1 The figure is a structural diagram of an intelligent automatic lifting control system for a building tower crane. DETAILED DESCRIPTION

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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, an indirect connection through an intermediate medium, or 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.

[0033] See also Figure 1 The present invention provides an intelligent automatic lifting control system for a building tower crane, comprising:

[0034] A short-distance communication module, wherein the short-distance communication module is used to communicate with the tower crane;

[0035] Obstacle detection module, used to determine whether there are obstacles above or below the tower crane cross arm;

[0036] A path prediction module, wherein the path prediction module is used to predict the driving path of the vehicle;

[0037] An information acquisition module, the information acquisition module is used to generate control information corresponding to the tower crane according to the driving path and tower crane cross arm information;

[0038] The tower crane control processing module is used to send a tower crane control message to the corresponding tower crane, and the tower crane control message is used to control the tower crane to perform a lifting operation.

[0039] The path prediction module includes a vehicle information module and a vehicle path planning module. The vehicle information module is used to record vehicle information and match the corresponding tower crane through the vehicle information. The vehicle path planning module plans the vehicle's driving path and driving speed according to the vehicle information. In this way, the vehicle's position and movement information can be understood in real time, thereby controlling the lifting of the tower crane, so that when the vehicle reaches the tower crane, it can unload or load materials.

[0040] The short-range communication module includes a detection module and a trigger module. When the adjacent tower cranes are close to each other, the trigger information sent by the trigger module on the tower crane is received by the detection module on the adjacent tower crane, and there is an intersection area between the two tower cranes; when the adjacent tower cranes are close to each other, the trigger information sent by the trigger module on the tower crane cannot be received by the detection module on the adjacent tower crane, and there is no intersection area between the two tower cranes. In this way, it can be judged whether there is an intersection area between the tower cranes in adjacent positions. When there is no intersection area, the tower crane is not restricted by the adjacent tower crane during lifting; when there is an intersection area, during the lifting process of the tower crane, through the obstacle detection module, it can be known whether there is interference when the adjacent tower cranes move in the opposite direction at height. If there is interference, when one of the tower cranes is lifted, the tower crane cross arm of the other tower crane rotates a certain angle when needed, so that the tower crane cross arms on the adjacent tower cranes are staggered. If there is no intersection area, the tower crane does not need to be adjusted, which can improve the flexibility of tower crane control.

[0041] The short-range communication module also includes a marking module, which is used to mark the corresponding tower crane. The mark includes the number and location information of the tower crane, so that it is easy to determine the location of the tower crane.

[0042] The short-distance communication module is a Lora module, and the communication modules between the tower cranes exchange data through the Lora protocol. The communication range of the short-distance communication module is a circle with the length of the tower crane cross arm as the diameter, which can ensure the effectiveness of communication.

[0043] The obstacle detection module includes an upper obstacle detection module and a lower obstacle detection module, wherein the upper obstacle detection module is used to detect whether there is an obstacle above the tower crane cross arm, and the lower obstacle detection module is used to detect whether there is an obstacle below the tower crane cross arm, and the information acquisition module is used to control the tower crane cross arm to perform lifting and lowering movements according to the information of the obstacles detected by the upper obstacle detection module and the lower obstacle detection module. In this way, obstacles in the upper and lower directions of the tower crane cross arm can be better detected to avoid collisions of the tower crane cross arm.

[0044] Working principle: through the short-range communication module, when adjacent tower cranes approach each other, the trigger information sent by the trigger module on the tower crane is received by the detection module on the adjacent tower crane, and there is an intersection area between the two tower cranes; when adjacent tower cranes approach each other, the trigger information sent by the trigger module on the tower crane cannot be received by the detection module on the adjacent tower crane, and there is no intersection area between the two tower cranes. The height difference between the adjacent tower cranes is determined by the obstacle detection module, so as to achieve the purpose of monitoring the position of the tower crane cross arm at all times, and then the lifting and lowering of the tower crane cross arm can be intelligently controlled with good safety; the control information of the corresponding tower crane is generated according to the walking path of the vehicle and the tower crane cross arm information, and the tower crane is controlled to operate through the control information, so as to realize the linkage control of the vehicle and the tower crane, thereby improving the control efficiency of the tower crane and improving the operation efficiency of the tower crane.

[0045] 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 automatic lifting control system for a building tower crane, characterized in that: include: A short-distance communication module, wherein the short-distance communication module is used to communicate with the tower crane; Obstacle detection module, used to determine whether there are obstacles above or below the tower crane cross arm; A path prediction module, wherein the path prediction module is used to predict the driving path of the vehicle; An information acquisition module, the information acquisition module is used to generate control information corresponding to the tower crane according to the driving path and tower crane cross arm information; The tower crane control processing module is used to send a tower crane control message to the corresponding tower crane, and the tower crane control message is used to control the tower crane to perform a lifting operation.

2. The intelligent automatic lifting control system of a building tower crane according to claim 1 is characterized in that: The path prediction module includes a vehicle information module and a vehicle path planning module. The vehicle information module is used to record vehicle information and match the corresponding tower crane through the vehicle information. The vehicle path planning module plans the vehicle's driving path and driving speed according to the vehicle information.

3. The intelligent automatic lifting control system of a building tower crane according to claim 1 is characterized in that: The short-range communication module includes a detection module and a trigger module. When the adjacent tower cranes are close to each other, the trigger information sent by the trigger module on the tower crane is received by the detection module on the adjacent tower crane, and there is an intersection area between the two tower cranes; when the adjacent tower cranes are close to each other, the trigger information sent by the trigger module on the tower crane cannot be received by the detection module on the adjacent tower crane, and there is no intersection area between the two tower cranes.

4. The intelligent automatic lifting control system of a building tower crane according to claim 1 is characterized in that: The short-range communication module also includes a marking module, and the marking module is used to mark the corresponding tower crane.

5. The intelligent automatic lifting control system of a building tower crane according to claim 4 is characterized in that: The mark includes the number and location information of the tower crane.

6. The intelligent automatic lifting control system of a building tower crane according to claim 1, characterized in that: The short-range communication module is a Lora module, and the communication modules between the tower cranes exchange data through the Lora protocol.

7. The intelligent automatic lifting control system of a building tower crane according to claim 1, characterized in that: The communication range of the short-range communication module is a circle with the length of the tower crane cross arm as the diameter.

8. The intelligent automatic lifting control system for a building tower crane according to claim 1, characterized in that: The obstacle detection module includes an upper obstacle detection module and a lower obstacle detection module. The upper obstacle detection module is used to detect whether there is an obstacle above the tower crane cross arm, and the lower obstacle detection module is used to detect whether there is an obstacle below the tower crane cross arm. The information acquisition module is used to control the tower crane cross arm to perform lifting and lowering movements based on the information of the obstacle detected by the upper obstacle detection module and the lower obstacle detection module.

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