Tower belt conveyor control system, tower belt conveyor and tower belt conveyor control method

Abstract

The invention relates to the technical field of engineering machinery, and discloses a tower belt conveyor control system, a tower belt conveyor and a tower belt conveyor control method. The tower belt conveyor control system comprises a tower crane control system, a belt conveyor control system and an image acquisition device. The tower belt machine comprises a tower belt machine control system, a hoisting mechanism, a slewing mechanism, a luffing mechanism, a feeding line, a transfer belt, an inner belt winch, an inner belt and an outer belt. The tower belt crane control method comprises the following steps: generating a mode switching instruction based on the operation of an operator; acquiring surrounding images of each mechanism, and acquiring an operation state of each mechanism; according to the images, whether people and / or animals exist around each mechanism is determined; and switching the working mode of the tower belt conveyor in response to the mode switching instruction under the condition that no person and / or animal exists around each mechanism and each mechanism stops. The two systems do not need to be operated separately in the whole switching process, and meanwhile, the mode switching safety is improved.

Description

Technical Field

[0001] This application relates to the technical field of construction machinery, and specifically relates to a tower belt machine control system, a tower belt machine, and a tower belt machine control method. Background Art

[0002] A tower belt machine is a combination of a tower crane and a concrete conveying belt. The tower crane lifts the outer belt, and through the lifting, slewing, luffing of the tower crane and the retracting and releasing of the inner belt winch, the adjustment of the material dropping point is realized, and then the concrete is transported through the feeding line, transfer belt, inner belt, and finally through the outer belt to the required concrete.

[0003] The existing tower belt machines generally have old systems. The tower crane control system and the belt conveyor control system are independent, and there are defects in inconvenient mode switching, resulting in high requirements for the experience of operators and the technology of maintenance personnel and insufficient safety performance. Summary of the Invention

[0004] The purpose of the embodiments of this application is to provide a tower belt machine control system, a tower belt machine, and a tower belt machine control method to solve the problem of inconvenient switching of the working mode of the tower belt machine in the prior art.

[0005] To achieve the above purpose, the first aspect of this application provides a tower belt machine control system, including:

[0006] A tower crane control system, a belt conveyor control system, and an image acquisition device;

[0007] The tower crane control system includes a linkage console, a tower crane controller, a hoisting frequency converter, a slewing frequency converter, and a luffing frequency converter. The linkage console is respectively connected to the hoisting frequency converter, the slewing frequency converter, and the luffing frequency converter through the tower crane controller. The tower crane controller is used to control the hoisting frequency converter, the slewing frequency converter, and the luffing frequency converter based on the control instructions of the linkage console;

[0008] The belt conveyor control system includes a linkage console, a belt conveyor controller, a feeding line frequency converter, a transfer belt frequency converter, an inner belt winch frequency converter, an inner belt frequency converter, and an outer belt frequency converter. The linkage console is respectively connected to the feeding line frequency converter, the transfer belt frequency converter, the inner belt winch frequency converter, the inner belt frequency converter, and the outer belt frequency converter through the belt conveyor controller. The belt conveyor controller is used to control the feeding line frequency converter, the transfer belt frequency converter, the inner belt winch frequency converter, the inner belt frequency converter, and the outer belt frequency converter based on the control instructions of the linkage console;

[0009] The image acquisition device is used to acquire images at the target device, where the target device includes the hoisting mechanism, slewing mechanism, luffing mechanism, feeding line, transfer belt, inner belt winch, inner belt, and outer belt of the tower belt machine;

[0010] The linkage console is provided in the cab and includes a mode switching element for switching the working mode of the tower belt conveyor, where the working modes include the tower crane working mode and the tower belt conveyor working mode.

[0011] In the embodiment of the present application, the tower crane controller is provided on the upper part of the tower crane, and the belt conveyor controller is provided on the transfer platform.

[0012] In the embodiment of the present application, the tower crane controller and the belt conveyor controller are integrally provided.

[0013] In the embodiment of the present application, a display screen is further included, which is provided in the cab and used to display the switching result information, where the switching result information includes a switching success prompt and the reason for switching failure.

[0014] In the embodiment of the present application, the linkage console further includes a starting element for starting the feeding line, the transfer belt, the inner belt winch, the inner belt and the outer belt.

[0015] The second aspect of the present application provides a tower belt conveyor, including:

[0016] A tower belt conveyor control system;

[0017] A hoisting mechanism connected to a hoisting frequency converter;

[0018] A slewing mechanism connected to a slewing frequency converter;

[0019] A luffing mechanism connected to a luffing frequency converter;

[0020] A feeding line connected to a feeding line frequency converter;

[0021] A transfer belt connected to a transfer belt frequency converter;

[0022] An inner belt winch connected to an inner belt winch frequency converter;

[0023] An inner belt connected to an inner belt frequency converter;

[0024] An outer belt connected to an outer belt frequency converter.

[0025] The third aspect of the present application provides a tower belt conveyor control method, including generating a mode switching instruction based on the operation of the operator on the mode switching element;

[0026] Obtaining an image of the target device and obtaining the operating state of the target device;

[0027] Determining whether there are people and / or animals around each target device according to the image;

[0028] When there are no people and / or animals around the target device and the operating state of the target device is stopped, responding to the mode switching instruction to switch the working mode of the tower belt conveyor.

[0029] In the embodiment of the present application, the controller of the tower crane control system is connected to the hoisting frequency converter, slewing frequency converter, and luffing frequency converter respectively through the CANOPEN bus;

[0030] The controller of the belt conveyor control system is connected to the feeding line frequency converter, transfer belt frequency converter, inner belt winch frequency converter, inner belt frequency converter, and outer belt frequency converter respectively through the CANOPEN bus;

[0031] Obtain the operating status of the target device, including:

[0032] Determine the operating status of the target device respectively according to the operating signals obtained by the controller of the tower crane control system and the controller of the belt conveyor control system.

[0033] In the embodiment of the present application, obtaining the operating status of the target device includes:

[0034] Determine the operating status of the target device respectively according to the brake holding feedback signal of the target device.

[0035] In the embodiment of the present application, after switching from the tower crane working mode to the tower belt machine working mode, a start command is generated based on the operator's operation of the start element, where the start command is used to start the feeding line, transfer belt, inner belt winch, inner belt, and outer belt.

[0036] Through the above technical solution, during the conversion process of the tower belt machine working mode, after the operator issues a command through the mode conversion element of the linkage console, the tower belt machine control system will automatically execute the switching condition judgment process. This technical solution replaces the manual step-by-step operation of the original discrete control system through an internally integrated judgment mechanism, realizes the one-key switching of the tower belt machine working mode, effectively solves the problem of low efficiency caused by the independent start and stop of the dual systems in traditional operations, improves the speed of mode conversion operations, and improves safety at the same time.

[0037] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation part. Description of the Drawings

[0038] The drawings are used to provide a further understanding of the embodiments of the present application, and constitute a part of the specification. They are used to explain the embodiments of the present application together with the following specific implementation, but do not constitute a limitation to the embodiments of the present application. In the drawings:

[0039] Figure 1 Schematically shows a schematic diagram of the composition of a tower belt machine control system according to an embodiment of the present application;

[0040] Figure 2Schematically shows a structural schematic diagram of a tower belt machine according to an embodiment of the present application;

[0041] Figure 3 Schematically shows a flowchart of a control method for a tower belt machine according to an embodiment of the present application.

[0042] Description of reference numerals

[0043] 100 Tower belt machine control system

[0044] 110 Tower crane control system 120 Belt conveyor control system

[0045] 111 Linkage console 121 Belt conveyor controller

[0046] 112 Tower crane controller 122 Feeding line frequency converter

[0047] 113 Hoisting frequency converter 123 Transfer belt frequency converter

[0048] 114 Slewing frequency converter 124 Inner belt winch frequency converter

[0049] 115 Luffing frequency converter 125 Inner belt frequency converter

[0050] 126 Outer belt frequency converter

[0051] 130 Image acquisition device

[0052] 200 Tower belt machine

[0053] 211 Feeding line 221 Upper part of tower crane

[0054] 212 Transfer platform 222 Hoisting mechanism

[0055] 213 Transfer belt 223 Slewing mechanism

[0056] 214 Inner belt winch 224 Luffing mechanism

[0057] 215 Inner belt

[0058] 216 Outer belt Detailed implementation manners

[0059] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. It should be understood that the specific implementation manners described herein are only used to illustrate and explain the embodiments of this application, and are not used to limit the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts belong to the scope of protection of this application.

[0060] It should be noted that the acquisition, transmission, storage, use, processing, etc. of data in the technical solutions of this application all comply with the relevant provisions of national laws and regulations. In the embodiments of this application, some existing industry solutions such as certain software, components, models, etc. may be mentioned. They should be regarded as exemplary, and their purpose is only to illustrate the feasibility in the implementation of the technical solutions of this application, but it does not mean that the applicant has already or necessarily used this solution.

[0061] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of this application, then such directional indications are only used to explain the relative positional relationship, movement conditions, etc. between components in a certain specific posture (as shown in the accompanying drawings). If this specific posture changes, then the directional indications will also change accordingly.

[0062] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of this application, then such descriptions of "first", "second", etc. are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0063] Figure 1 Schematically shows a schematic diagram of the composition of a tower belt machine control system according to an embodiment of this application. As Figure 1 shown, the tower belt machine control system 100 provided in the embodiment of this application includes: a tower crane control system 110, a belt conveyor control system 120, and an image acquisition device 130;

[0064] The tower crane control system 110 includes a linkage console 111, a tower crane controller 112, a hoisting frequency converter 113, a slewing frequency converter 114, and a luffing frequency converter 115. The linkage console is connected to the hoisting frequency converter 113, the slewing frequency converter 114, and the luffing frequency converter 115 respectively through the tower crane controller 112. The tower crane controller 112 is used to control the hoisting frequency converter 113, the slewing frequency converter 114, and the luffing frequency converter 115 based on the control instructions of the linkage console 111.

[0065] The belt conveyor control system includes a linkage console 111, a belt conveyor controller 121, a feeding line frequency converter 122, a transfer belt frequency converter 123, an inner belt winch frequency converter 124, an inner belt frequency converter 125, and an outer belt frequency converter 126. The linkage console 111 is connected to the feeding line frequency converter 122, the transfer belt frequency converter 123, the inner belt winch frequency converter 124, the inner belt frequency converter 125, and the outer belt frequency converter 126 respectively through the belt conveyor controller 121. The belt conveyor controller 121 is used to control the feeding line frequency converter 122, the transfer belt frequency converter 123, the inner belt winch frequency converter 124, the inner belt frequency converter 125, and the outer belt frequency converter 126 based on the control instructions of the linkage console 111.

[0066] The image acquisition device 130 is used to acquire images at the target device. Among them, the target device includes the hoisting mechanism 222, the slewing mechanism 223, the luffing mechanism 224, the feeding line 211, the transfer belt 213, the inner belt winch 214, the inner belt 215, and the outer belt 216 of the tower belt machine 200.

[0067] The linkage console 111 is arranged in the cab and includes a mode switching element for switching the working mode of the tower belt machine. Among them, the working mode includes the tower crane working mode and the tower belt machine working mode.

[0068] In the tower crane working mode of the tower crane control system 110, the tower crane controller 112 receives the hoisting, slewing, and luffing operation instruction signals of the linkage console 111, and controls the hoisting frequency converter 113, the slewing frequency converter 114, and the luffing frequency converter 115 to work respectively. Each frequency converter controls the corresponding hoisting mechanism 222, slewing mechanism 223, and luffing mechanism 224 to operate, so that the tower belt machine is used as a standard tower crane for hoisting. At this time, the feeding line 211, the transfer belt 213, the inner belt winch 214, the inner belt 215, and the outer belt 216 are not controlled by the linkage console 111 and are in a static state.

[0069] When the belt conveyor control system 120 is in the tower belt conveyor working mode, the belt conveyor controller 121 receives the lifting, slewing, and luffing operation command signals and the belt conveyor running and stopping signals from the linkage console 111, and respectively controls the lifting frequency converter 113, slewing frequency converter 114, luffing frequency converter 115, feeding line frequency converter 122, transfer belt frequency converter 123, inner belt winch frequency converter 124, inner belt frequency converter 125, and outer belt frequency converter 126 to work. Each frequency converter respectively controls the operation of the lifting mechanism 222, slewing mechanism 223, luffing mechanism 224, feeding line 211, transfer belt 213, inner belt winch 214, inner belt 215, and outer belt 216 to realize the dynamic adjustment of the material discharge port. Then, the concrete is conveyed through the feeding line 211, transfer belt 213, and inner belt 215, and finally through the outer belt 216 until it falls from the material discharge port.

[0070] Optionally, a mode switching element in the embodiment of the present application is a two-position key switch. The purpose of using the two-position key switch is to enable the tower belt conveyor to have the ability to switch between the tower crane working mode and the tower belt conveyor working mode, or to switch back from the tower belt conveyor working mode to the tower crane working mode. A way to send a mode switching instruction to the tower belt conveyor control system is to turn the two-position key switch to the first direction, and the corresponding mode switching instruction is to make the tower belt conveyor switch from the tower crane working mode to the tower belt conveyor working mode; or turn it to the second direction, that is, the corresponding mode switching instruction is to make the tower belt conveyor switch from the tower belt conveyor working mode to the tower crane working mode.

[0071] In addition, it should be noted that the input method of the instruction is not limited to using a two-position key switch. For example, buttons or knobs can also be used to realize the instruction input, and a combination of elements such as a screen, buttons, and knobs can also be used. The embodiment of the present application does not limit this.

[0072] The operator sends a mode switching instruction to the tower belt conveyor control system through the mode switching element provided on the linkage console 111, thereby starting the mode switching process.

[0073] The present application provides two setting methods for the tower crane controller 112 and the belt conveyor controller 121, which will be described in detail below.

[0074] In an optional implementation manner, the tower crane controller 112 is arranged on the upper part 221 of the tower crane, and the belt conveyor controller 121 is arranged on the transfer platform 212;

[0075] In another optional implementation manner, the tower crane controller 112 and the belt conveyor controller 121 are integrally arranged.

[0076] The first solution adopts a split layout, installs the tower crane controller 112 on the upper part 221 of the tower crane, reduces the signal transfer link, and helps to improve the action response speed; the belt conveyor controller 121 is fixed on the transfer platform 212, and its stable operation in the vibration environment is ensured by strengthening the protection structure. The second solution adopts an integrated design, integrates the two types of controllers into a unified control unit, uses modular design to reduce the equipment volume, and shares the communication interface to simplify the line connection. The split solution is convenient for independent maintenance and repair, and is suitable for large and complex operation scenarios; the integrated solution is more adaptable to the construction environment with limited space by reducing the volume occupied by discrete controllers.

[0077] In an optional implementation manner, the tower belt conveyor control system 100 further includes:

[0078] A display screen, which is arranged in the cab and is used to display the switching result information, wherein the switching result information includes a switching success prompt and a switching failure reason.

[0079] The types of display screens can be LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), etc. The tower belt conveyor system detects the states of the tower crane and the belt conveyor in real time through a preset logic, and according to the determination result, feeds back a mode switching permission signal or an error diagnosis prompt to the operator through the display screen.

[0080] In an optional implementation manner, the linkage console 111 further includes a starting element, which is used to start the feeding line 211, the transfer belt 213, the inner belt winch 214, the inner belt 215 and the outer belt 216.

[0081] After the tower belt conveyor control system 100 completes the condition detection for switching from the tower crane working mode to the tower belt conveyor working mode, when the mode switching condition is met, the operator sends instructions to the feeding line 211, the transfer belt 213, the inner belt winch 214, the inner belt 215 and the outer belt 216 through the starting element.

[0082] In the belt conveyor control system 120, the linkage console 111 is connected to the belt conveyor controller 121 to complete the control of the feeding line frequency converter 122, the transfer belt frequency converter 123, the inner belt winch frequency converter 124, the inner belt frequency converter 125 and the outer belt frequency converter 126 belonging to the belt conveyor; in the tower crane control system 110, similarly, the linkage console 111 is connected to the tower crane controller 112 to control the hoisting frequency converter 113, the slewing frequency converter 114 and the luffing frequency converter 115 belonging to the tower crane. The image acquisition device 130 belongs to the tower belt conveyor control system 100, monitors the surrounding working conditions in real time, and finally feeds back to the operator through the display screen after the tower belt conveyor control system 100 makes a judgment.

[0083] Figure 2 Schematically shows a structural schematic diagram of a tower belt machine according to an embodiment of the present application. As Figure 2 shown, an embodiment of the present application provides a tower belt machine, which may include:

[0084] The tower belt machine control system 100 described above according to the preceding text;

[0085] The hoisting mechanism 222, connected to the hoisting frequency converter 113;

[0086] The slewing mechanism 223, connected to the slewing frequency converter 114;

[0087] The luffing mechanism 224, connected to the luffing frequency converter 115;

[0088] The feeding line 211, connected to the feeding line frequency converter 122;

[0089] The transfer belt 213, connected to the transfer belt frequency converter 123;

[0090] The inner belt winch 214, connected to the inner belt winch frequency converter 124;

[0091] The inner belt 215, connected to the inner belt frequency converter 125;

[0092] The outer belt 216, connected to the outer belt frequency converter 126.

[0093] In the above devices, the tower belt machine control system 100 is configured to switch the tower belt machine mode according to an instruction; the hoisting mechanism 222 is configured to lift and lower the hook by driving a steel wire rope; the slewing mechanism 223 is configured to drive the tower body to rotate 360°, ensuring that the boom covers the entire working surface; the luffing mechanism 224 is configured to change the hoisting working radius to expand the coverage range and flexibly adapt to different operation requirements; the feeding line 211 is configured to serve as the initial conveying channel for concrete and convey materials to the starting point of the tower belt machine; the transfer belt 213 is configured to transfer concrete between the feeding belt and the inner belt to realize the conveying of concrete from the feeding line to the main body of the tower belt machine; the inner belt winch 214 controls the pitching angle of the inner belt through a hoisting steel wire rope and adjusts the conveying height to adapt to different pouring requirements; the inner belt 215 is configured to be a horizontal conveyor belt fixed inside the tower body and is responsible for conveying concrete from inside the tower body to the outer distributor to ensure coverage of different bin surfaces; the outer belt 216 is configured to be a horizontal conveyor belt suspended on the boom and can cover a wider range through slewing and pitching movements.

[0094] Figure 3 Schematically shows a schematic diagram of a control process of a tower belt machine according to an embodiment of the present application. As Figure 3As shown in the figure, an embodiment of the present application provides a control method for a tower belt machine, and the method may include the following steps S301 - step S304.

[0095] Step S301: Generate a mode switching instruction based on the operation of the operator on the mode switching element.

[0096] In the embodiment of the present application, the operator uses the mode switching element on the linkage console 111 located in the driver's cab 221 of the upper part of the tower crane to issue an instruction. The linkage console 111 is connected to the tower belt machine control system 100 and issues a mode switching instruction to the tower belt machine.

[0097] The mode switching instruction of the present application is issued through the mode switching element on the linkage console 111, avoiding the problem in the prior art that it is necessary to operate the tower crane control system 110 and the belt conveyor control system 120 simultaneously, reducing the complexity of operation and improving the mode switching efficiency.

[0098] Step S302: Obtain an image at the target device and obtain the operating state of the target device.

[0099] In the embodiment of the present application, the tower belt machine control system 100 uses the image acquisition device 130 to obtain images around the target device of the tower belt machine for comprehensive judgment.

[0100] Specifically, in an optional implementation manner of the present application, a video camera provided on the tower belt machine 200 is used for image acquisition; the acquired image information includes but is not limited to pictures, videos, etc.; the area of the acquired images includes the hoisting mechanism 222, slewing mechanism 223, luffing mechanism 224, feeding line 211, transfer belt 213, inner belt winch 214, inner belt 215 and outer belt 216 of the tower belt machine.

[0101] The embodiment of the present application provides two solutions for obtaining the operating state of the target device, which are introduced separately below.

[0102] In an optional implementation manner, the tower crane controller 112 is respectively connected to the hoisting frequency converter 113, slewing frequency converter 114, and luffing frequency converter 115 through the CANOPEN bus; the belt conveyor controller 121 is respectively connected to the feeding line frequency converter 122, transfer belt frequency converter 123, inner belt winch frequency converter 124, inner belt frequency converter 125, and outer belt frequency converter 126 through the CANOPEN bus;

[0103] Obtaining the operating state of the target device includes:

[0104] Respectively determine the operating state of the target device according to the operating signals obtained by the tower crane controller 112 and the belt conveyor controller 121.

[0105] In an embodiment of the present application, the operating state of the target device can be determined by collecting the operating signals of the frequency converter.

[0106] It should be noted that the obtained frequency converter signals include but are not limited to output frequency, output current, fault codes, etc. The operating state of the target device can be determined by analyzing the frequency converter signals.

[0107] In another alternative embodiment, obtaining the operating state of the target device includes:

[0108] Determining the operating state of the target device respectively according to the brake holding feedback signal of the target device.

[0109] In an embodiment of the present application, the operating state can also be determined by collecting the brake signals. It can be understood that when the brake is in the holding state, the moving parts of the device must be stationary and cannot be in the operating state.

[0110] Specifically, the tower crane control system 110 can collect the brake information of the hoisting mechanism 222, slewing mechanism 223, and luffing mechanism 224 through the CANOPEN bus to judge the working state of the tower crane part; or the belt conveyor control system 120 can collect the brake signals of the feeding line 211, transfer belt 213, inner belt winch 214, inner belt 215, and outer belt 216 to obtain whether the relevant mechanisms of the belt conveyor part are in the holding state, and then determine the working state.

[0111] Step S303: Determine whether there are people and / or animals around each target device according to the image.

[0112] In an embodiment of the present application, the tower belt conveyor control system 100 makes a comprehensive judgment by obtaining the image information of the periphery of the tower belt conveyor collected by the image acquisition device 130.

[0113] Specifically, in an alternative embodiment, the tower belt machine control system 100 acquires a plurality of peripheral image information of the tower belt machine collected by the image acquisition device 130. Further, the image processing module built into the tower belt machine control system 100 of the present application first performs preprocessing operations such as noise reduction and contrast enhancement on the original image to optimize the subsequent analysis effect. Subsequently, key features in the image can be extracted through computer vision algorithms (such as edge detection and morphological operations), such as human contours and animal movement trajectories. Then, deep learning algorithms such as YOLOv5 (You Only Look Once, fifth edition) can be used to perform real-time object detection on the preprocessed image. The pre-trained model achieves high-precision classification through training data and can distinguish between people, animals, or inanimate building scene objects. With the help of images or video frames, the system further analyzes the movement trajectories and behavior patterns (such as stationary, fast moving, gathering, etc.) of people, animals, or inanimate building scene objects in the picture, and then identifies whether there are people and / or animals in the collected image content to judge potential risks.

[0114] Compared with the traditional method where operators visually inspect and communicate up and down by radio to ensure peripheral safety, using the image recognition algorithm built into the tower belt machine control system 100 to identify the surrounding environment of each target device of the tower belt machine improves the recognition speed and accuracy, and at the same time reduces the possibility of safety problems caused by human negligence or other reasons.

[0115] Step S304: When there are no people and / or animals around the target device and the operating state of the target device is stopped, in response to the mode switching instruction, switch the working mode of the tower belt machine.

[0116] In the embodiment of the present application, after the tower belt machine control system 100 determines that there are no people and / or animals around the tower belt machine and the operating state of the target device is stopped, that is, both the tower crane and the belt conveyor are in an unoperated state, it executes the mode switching instruction, making the switching process faster and more convenient, and at the same time reducing safety problems caused by insufficient operator observation or poor communication.

[0117] On this basis, in an alternative embodiment, the tower belt machine control method further includes:

[0118] After switching from the tower crane working mode to the tower belt machine working mode, based on the operator's operation of the starting element, a start instruction is generated, where the start instruction is used to start the feeding line 211, the transfer belt 213, the inner belt winch 21, the inner belt 215, and the outer belt 216. After the feeding line 211, the transfer belt 213, the inner belt winch 214, the inner belt 215, and the outer belt 216 are started, the concrete conveying work can be carried out.

[0119] In the embodiment of the present application, it only requires one operation by the operator to switch from the tower belt machine working mode to the tower crane working mode, and only two operations to switch from the tower crane working mode to the tower belt machine working mode. Moreover, the operator does not need to leave the driver's cab or seek assistance from other personnel throughout the process, reducing the experience requirements and energy consumption for the operator. At the same time, when the switching fails, the operator can quickly and accurately locate the cause of the abnormal mode switching through the display screen in the driver's cab, and troubleshoot the problem more quickly and accurately.

[0120] The following will make a detailed description of the complete process of the tower belt machine control method provided by the embodiment of the present application.

[0121] 1. The judgment result obtained and determined by the image acquisition device 130 on whether there are people and / or animals around each device of the tower belt machine proves that there are no safety hazards in the operating environment of the tower belt machine;

[0122] 2. Through the tower crane controller 112 in the communication mode of the CANOPEN bus, read the device signals from the hoist inverter 113, slewing inverter 114, and luffing inverter 115, and then determine that the tower crane is in a non-operating state;

[0123] 3. Determine that the belt conveyor is in a non-operating state by reading the operating signals of the feeding line inverter 122, transfer belt inverter 123, inner belt winch inverter 124, inner belt inverter 125, and outer belt inverter 126 through the belt conveyor controller 121 in the CANOPEN communication mode.

[0124] When all three conditions are met, the tower belt machine control system 100 responds to the mode switching instruction of the operator and performs the mode switching of the tower belt machine.

[0125] When switching the working mode of the tower crane to the tower belt conveyor working mode, after the operator inputs a mode switching instruction to the tower belt conveyor control system 100 from the mode switching element on the linkage console 111, the controller makes a judgment at this time. If all of the above switching conditions 1, 2, and 3 are met, the working mode can be switched to the tower belt conveyor working mode. At the same time, the first green indicator light on the right console of the linkage console 111 lights up, and the display screen gives an identification and voice prompt; if any of the above switching conditions 1, 2, and 3 is not met, the switching fails, the second indicator light on the linkage console 111 lights up, and the display screen gives a prompt for the reason of the switching failure. In addition, after the switching is successful, the starting element located on the linkage console 111 can be used to send a starting instruction to the belt conveyor device through the tower belt conveyor control system 100 to start the feeding line 211, transfer belt 213, inner belt winch 214, inner belt 215, and outer belt 216. The starting element can be a knob, a switch, or any other element that can achieve two or more types of instruction inputs. After the belt conveyor starts successfully, the concrete can be transported. In the whole set of mode switching process, the operator does not need to leave the driver's seat and does not need to communicate up and down for confirmation. The whole process can be completed through the linkage console 111 and the display screen, which is very convenient and user-friendly.

[0126] In the tower belt conveyor working mode, the belt conveyor controller 121 conducts data interaction with the tower belt conveyor control system 100 through the belt conveyor control system 120, receives the hoisting, slewing, and luffing operation instruction signals of the linkage console and the belt conveyor running and stopping signals, and controls the hoisting frequency converter 113, slewing frequency converter 114, luffing frequency converter 115, feeding line frequency converter 122, transfer belt frequency converter 123, inner belt winch frequency converter 124, inner belt frequency converter 125, and outer belt frequency converter 126 to work. The frequency converters control the hoisting mechanism 222, slewing mechanism 223, luffing mechanism 224, feeding line 211, transfer belt 213, inner belt winch 214, inner belt 215, and outer belt 216 to run, so as to realize the dynamic adjustment of the discharge opening, and then transport the concrete successively through the feeding line 211, transfer belt 213, and inner belt 215, and finally convey the required concrete to the discharge opening through the outer belt 216.

[0127] Similarly, when switching the tower belt conveyor working mode to the tower crane working mode, when the operator turns the two-position key switch of the linkage console 111 to the second direction, the controller makes a judgment at this time. If all of the above switching conditions 1, 2, and 3 are met, the working mode can be switched to the tower crane working mode. At the same time, the second green indicator light on the tower belt conveyor linkage console lights up, and the display screen gives an identification and voice prompt; if any of the above switching conditions 1, 2, and 3 is not met, the switching fails, the first indicator light on the linkage console lights up, and the display screen gives a prompt for the reason of the switching failure. After the switching is successful, the device can be used as a normal tower crane without loss of hoisting performance.

[0128] In the working mode of the tower crane, the tower crane controller 112 conducts data interaction with the tower belt conveyor control system 100 through the tower crane control system 110, receives the lifting, slewing, and luffing operation instruction signals of the control console, controls the operation of the lifting frequency converter 113, slewing frequency converter 114, and luffing frequency converter 115, and the frequency converters control the operation of the lifting mechanism 222, slewing mechanism 223, and luffing mechanism 224, enabling the tower belt conveyor to be used as a standard tower crane for hoisting. At this time, the feeding line 211, transfer belt 213, inner belt winch 214, inner belt 215, and outer belt 216 are not controlled by the control console and are in a stationary state.

[0129] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take 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.) containing computer-usable program code.

[0130] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the functions specified in Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0131] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device that implements the functions specified in Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0132] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide for implementing the functions specified in Figure 1 one or more flows and / or blocks Figure 1Steps of functions specified in one or more boxes.

[0133] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0134] The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM), and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.

[0135] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can store information by any method or technology. The 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 technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices, or any other non-transitory media that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated data signals and carrier waves.

[0136] It should also be noted that the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, commodity or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of additional identical elements in the process, method, commodity or device comprising the element.

[0137] The above are only embodiments of the present application and are not used to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A tower belt conveyor control system, characterized in that, Comprising: A tower crane control system, a belt conveyor control system, and an image acquisition device; The tower crane control system includes a linkage console, a tower crane controller, a hoisting frequency converter, a slewing frequency converter, and a luffing frequency converter. The linkage console is respectively connected to the hoisting frequency converter, the slewing frequency converter, and the luffing frequency converter through the tower crane controller. The tower crane controller is used to control the hoisting frequency converter, the slewing frequency converter, and the luffing frequency converter based on the control instructions of the linkage console; The belt conveyor control system includes the linkage console, a belt conveyor controller, a feeding line frequency converter, a transfer belt frequency converter, an inner belt winch frequency converter, an inner belt frequency converter, and an outer belt frequency converter. The linkage console is respectively connected to the feeding line frequency converter, the transfer belt frequency converter, the inner belt winch frequency converter, the inner belt frequency converter, and the outer belt frequency converter through the belt conveyor controller. The belt conveyor controller is used to control the feeding line frequency converter, the transfer belt frequency converter, the inner belt winch frequency converter, the inner belt frequency converter, and the outer belt frequency converter based on the control instructions of the linkage console; The image acquisition device is used to acquire images at the target device, wherein the target device includes the hoisting mechanism, slewing mechanism, luffing mechanism, feeding line, transfer belt, inner belt winch, inner belt, and outer belt of the tower belt conveyor; The linkage console is arranged in the cab and includes a mode switching element for switching the working mode of the tower belt conveyor, wherein the working mode includes a tower crane working mode and a tower belt conveyor working mode.

2. The tower belt machine control system according to claim 1, wherein The tower crane controller is arranged on the upper structure of the tower crane, and the belt conveyor controller is arranged on the transfer platform.

3. The tower belt conveyor control system according to claim 1, wherein The tower crane controller and the belt conveyor controller are integrally arranged.

4. The tower belt conveyor control system according to claim 1, characterized in that Further comprising: A display screen arranged in the cab for displaying switching result information, wherein the switching result information includes a switching success prompt and a switching failure reason.

5. The tower belt conveyor control system according to claim 1, wherein: The linkage console further includes a start element for starting the feeding line, transfer belt, inner belt winch, inner belt, and outer belt.

6. A tower belt conveyor, characterized in that, Comprising: The tower belt conveyor control system according to any one of claims 1 to 5; A hoisting mechanism connected to the hoisting frequency converter; A slewing mechanism connected to the slewing frequency converter; A luffing mechanism connected to the luffing frequency converter; A feeding line connected to the feeding line frequency converter; A transfer belt connected to the transfer belt frequency converter; An inner belt winch connected to the inner belt winch frequency converter; An inner belt connected to the inner belt frequency converter; An outer belt connected to the outer belt frequency converter.

7. A tower belt conveyor control method, applied to the tower belt conveyor control system according to any one of claims 1-5, characterized in that, Comprising: Generating a mode switching instruction based on the operation of the operator on the mode switching element; Acquiring the image at the target device and acquiring the operating state of the target device; Determining whether there are people and / or animals around each of the target devices according to the image; When there are no people and / or animals around the target device and the operating state of the target device is stopped, responding to the mode switching instruction to switch the working mode of the tower belt conveyor.

8. The tower belt machine control method according to claim 7, characterized in that The controller of the tower crane control system is connected to the hoisting frequency converter, the slewing frequency converter, and the luffing frequency converter respectively through the CANOPEN bus; The controller of the belt conveyor control system is connected to the feeding line frequency converter, the transfer belt frequency converter, the inner belt winch frequency converter, the inner belt frequency converter, and the outer belt frequency converter respectively through the CANOPEN bus; The obtaining of the operating state of the target device includes: Respectively determining the operating state of the target device according to the operating signals obtained by the controller of the tower crane control system and the controller of the belt conveyor control system.

9. The tower belt machine control method according to claim 7, wherein The obtaining of the operating state of the target device includes: Respectively determining the operating state of the target device according to the brake holding feedback signal of the target device.

10. The tower belt machine control method according to claim 7, wherein It further includes: After switching from the tower crane working mode to the tower-belt conveyor working mode, generating a start command based on the operation of the operator, where the start command is used to start the feeding line, the transfer belt, the inner belt winch, the inner belt, and the outer belt.

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