Remote control and centralized control system for bridge beam moving machine

Abstract

The invention relates to the technical field of bridge construction carrying equipment, and particularly discloses a remote control and centralized control system for a bridge beam moving machine. Comprising a positioning module, an anti-swing module, a data communication module, an omnibearing intelligent video monitoring module, a task scheduling and path module based on a BIM technology and a GIS technology, a safety monitoring management module and a remote control and centralized control module. Wherein the positioning module determines equipment coordinates and precast beam position information, the omnibearing intelligent video monitoring module obtains the state of the beam lifter, the task scheduling and path module based on the BIM technology and the GIS technology determines a strategy, the remote control and centralized control module performs specific execution, and the anti-swing module ensures that the lifting process is stable and free of swing. The data communication module is in communication connection, and the security monitoring management module guarantees the mobile security. The system has the advantages of automation, informatization and high intelligent degree, and can meet the requirements of modern railway bridge construction for high precision, high efficiency and high safety.

Description

Technical Field

[0001] The present invention relates to the technical field of bridge construction handling equipment, and specifically refers to a remote control and centralized control system for a bridge beam transfer machine. Background Art

[0002] A beam transfer machine is a gantry crane specially designed for transferring beams in a T-beam yard. Through its robotic boom, hydraulic system, and traveling mechanism, it can hoist, translate, and accurately position precast beam bodies weighing up to 1700 tons, replacing the inefficient operation mode of traditional hoisting equipment in bridge erection. As an important piece of equipment in yard construction, the intelligent level of beam transfer equipment has an important impact on construction efficiency and quality. Traditional beam transfer equipment has deficiencies in terms of automation, informatization, and intelligence, and it is difficult to meet the requirements of modern railway bridge construction for high precision, high efficiency, and high safety. Summary of the Invention

[0003] The purpose of the present invention is to provide a remote control and centralized control system for a bridge beam transfer machine with a high degree of automation, informatization, and intelligence.

[0004] The present invention is achieved through the following technical solutions: A remote control and centralized control system for a bridge beam transfer machine includes a positioning module, an anti-sway module, a data communication module, an all-round intelligent video monitoring module, a task scheduling and path module based on BIM technology and GIS technology, a safety monitoring and management module, and a remote control and centralized control module; the system uses the positioning module to perceive the environment model, positioning of the operation object and the environment, determine the equipment coordinates and the position information of the precast beam, obtain the self-state of the beam hoisting machine through the all-round intelligent video monitoring module, determine the strategies for lifting, transporting, and unloading the steel reinforcement cage through the task scheduling and path module based on BIM technology and GIS technology, realize fully automatic beam manufacturing, beam transfer, and beam unloading through the remote control and centralized control module, make the precast beam stable and without swing during hoisting through the anti-sway module, the modules are communicatively connected through the data communication module, and the safety monitoring and management module ensures the safety of the movement of the precast beam.

[0005] To better implement the present invention, further, the positioning module relies on an on-vehicle multi-star multi-frequency RTK-GNSS receiver module and an inertial navigation module to obtain the motion state and global position coordinates of the intelligent construction equipment, and combines with the positioning of the beam lifting points to achieve dynamic high-precision positioning and navigation. The transfer vehicle uses GNSS Beidou positioning, and the hoisting mechanism uses an absolute value rotary encoder.

[0006] To better implement the present invention, further, the anti-sway module adopts an open-loop electrical anti-sway technology to achieve anti-sway control of the crane through a control algorithm.

[0007] To better implement the present invention, further, the data communication module includes the communication between the on-board PLC, frequency converter and sensor devices, as well as the communication between the on-board PLC and the ground operation station; the PN communication method is adopted between the on-board PLC, frequency converter and sensor devices; the wireless combined with optical fiber communication method is adopted between the on-board PLC and the ground operation station. The on-board PLC transmits the signal to the wireless AP2 through the wireless local area network via the wireless AP1. The Ethernet-to-optical fiber device at the wireless AP2 converts the signal into an optical signal and transmits it to the ground operation room through the optical fiber cable. The optical fiber-to-Ethernet module in the ground operation room converts the optical signal into an electrical signal to complete the communication with the configuration software and the PLC of the ground operation station; the video monitoring device transmits the video monitoring signal to the ground operation station using the same communication method; there are two sets of the overall local area network, and the dual-redundancy technology is adopted. When there is a delay in the currently used channel, the system automatically switches to the standby network.

[0008] To better implement the present invention, further, the remote control and centralized control module includes a central control room, which is configured with a large-capacity server, an LED large screen and an intelligent equipment remote cockpit, and installs an intelligent equipment remote control system to realize the identification of the operation status and construction process of the edge intelligent equipment, remote early warning and operation; the remote control and centralized control module has three operation modes, namely the full-automatic control function mode of the control room, the remote control operation mode of the central control room, and the driver's cab operation mode. The operation mode can be selected after being authorized by the central control room.

[0009] To better implement the present invention, further, the all-round intelligent video monitoring module includes a central control video unit and on-board video. The central control video unit sets a video terminal PC at the central control station and connects it to a display to display the video images related to the on-site operation. The images are pre-combined and set by software to achieve an all-round imaging effect; the on-board video includes video monitoring of the walking area and video monitoring of the lifting point area. Each girder lifting machine is equipped with at least 4 cameras to monitor the environmental status of the operation area and at least 2 cameras to monitor the environmental status of the lifting point area.

[0010] To better implement the present invention, further, the task scheduling and path module based on BIM technology and GIS technology can automatically execute the scheduling task of the beam moving equipment according to the production plan, sort out, convert and abstract the operation instruction priorities, beam moving equipment distribution rules, beam yard obstacle division rules, etc. involved in the beam moving equipment scheduling into system rules, provide a decision-making basis for the beam moving equipment scheduling, and realize path planning.

[0011] To better implement the present invention, further, the safety monitoring module includes a three-level emergency stop unit, a wire rope on-line monitoring unit, and an obstacle recognition unit; The three - level emergency stop unit: The operator can perform manual emergency stop, the system will automatically stop when the tilt angle > 3° or the load exceeds 110% of the limit, and it will automatically brake independently after 2 seconds of communication interruption; The wire rope on - line monitoring unit conducts real - time on - line monitoring of damages such as wear, corrosion, fatigue, and wire breakage of the wire rope, and issues an alarm when there is danger; The obstacle recognition: Integrates lidar, millimeter - wave radar, and vision cameras to generate a three - dimensional obstacle avoidance path.

[0012] To better implement the present invention, further, the wire rope on - line monitoring unit includes a wire rope flaw detection sensor, a wire rope magnetic field planning sensor, an information sub - station, a speed sensor, an optical terminal, and wire rope flaw detection management software. The data is collected by the sensors, processed by the data sub - station, and the detection results are displayed by the wire rope flaw detection management software, which conducts real - time on - line monitoring of damages such as wear, corrosion, fatigue, and wire breakage of the wire rope, and issues an alarm when there is danger.

[0013] Compared with the prior art, the present invention has the following advantages and beneficial effects: (1) The system provided by the present invention can achieve high - precision positioning and operation during the process of moving precast beams of bridges, providing a strong guarantee for the high - precision execution of the beam moving operation, ensuring that the running track of the equipment and the placement position of the precast beam during the beam moving process meet strict engineering requirements, and improving the accuracy and reliability of the beam yard beam moving operation; (2) The system provided by the present invention can achieve stable anti - swing control during the process of moving precast beams of bridges. Through the control algorithm, the swing degree is effectively reduced by 90%, greatly reducing the swing amplitude of the spreader during the lifting process. This not only improves the operation efficiency, avoids time waste and inconvenient operation caused by swinging, but more importantly, greatly reduces the probability of safety accidents, ensuring the safety and stability of the beam moving operation. (3) The system provided by the present invention ensures high - speed, stable, and reliable data transmission between the on - machine equipment and the ground operation station through reliable data communication and dual - redundant networks. The combined use of wireless AP and optical fiber overcomes the limitations of a single communication method and adapts to the complex operation environment of the beam yard; The dual - redundant technology can automatically switch to the standby network in milliseconds when problems such as delay occur in the main channel, ensuring the real - time transmission of control signals and data, and avoiding operation interruption and safety hazards caused by communication failures. (4)The system provided by the present invention adopts flexible and diverse operation modes to meet different operation scenarios and requirements. The fully automatic operation mode realizes one-key operation, completes tasks according to the established process, and does not require real-time manual intervention, greatly improving the operation efficiency and reducing the labor cost; in the remote control operation mode in the central control room, when manual intervention is required, the staff can remotely control the equipment through video signals and operation handles, which combines flexibility and safety; the cab operation mode is used in special situations such as maintenance, acceptance, and network disconnection, ensuring that the equipment can still operate normally in various emergencies, and improving the adaptability and reliability of the system; (5)Through the omnidirectional video monitoring provided by the present invention, the system realizes the omnidirectional monitoring of the operation area and the lifting point area of the beam lifting machine; the omnidirectional imaging effect enables the staff in the remote control room to clearly and comprehensively master the on-site operation situation and promptly discover potential safety hazards and problems; the key area focus monitoring by the on-board video provides intuitive visual support for the precise operation and safe operation of the equipment, further enhancing the safety and controllability of the operation; (6)The present invention can also perform real-time online monitoring of the damage of the wire rope, promptly detect problems such as wear, corrosion, and broken wires and issue alarms, avoiding safety accidents caused by wire rope failures, and providing an important guarantee for the safe operation of the equipment. At the same time, the system helps to formulate maintenance plans in advance, reasonably arrange the replacement and maintenance of the wire rope, extend the service life of the wire rope, and reduce the equipment maintenance cost; (7)Through reasonable rule management and path planning, the system realizes the collaborative operation of equipment and improves the production efficiency. The system can plan the optimal operation path for the beam moving equipment according to the actual situation of the beam yard, such as obstacle division, operation instruction priority, etc., reducing the ineffective operation and waiting time of the equipment and enhancing the overall production management level of the beam yard. (8)The system provided by the present invention significantly improves the automation, intelligence, and informatization levels of the beam moving equipment, can meet the requirements of modern railway bridge construction for high precision, high efficiency, and high safety, and does not require operation during the operation process, only requires "one-to-many" supervision to handle abnormal situations. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] By reading the detailed description of the non-restrictive embodiments with reference to the following drawings, other features, purposes, and advantages of the present invention will become more obvious: Figure 1 It is a structural schematic block diagram of the present invention; Figure 2 It is a design schematic diagram of the beam manufacturing area in the system of the present invention; Figure 3 It is a design schematic diagram of the beam storage area in the system of the present invention; Figure 4 It is a software display diagram of the positioning module in the invention; Figure 5 Schematic diagram of the anti-sway module principle in the present invention; Figure 6 Schematic diagram of the data communication module principle in the present invention; Figure 7 Frame diagram of the remote control and centralized control module in the present invention; Figure 8 Video surveillance layout diagram in the all-round intelligent video surveillance module of the present invention; Figure 9 Software block diagram of the task scheduling and path module based on BIM technology and GIS technology in the present invention; Figure 10 Software block diagram of the security monitoring module in the present invention; Figure 11 Physical structure diagram of the steel wire rope on-line monitoring unit in the present invention. Detailed implementation manners

[0015] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described by referring to the drawings below are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention.

[0016] In the description of the present invention, it should be noted that, unless otherwise clearly defined and limited, the terms "installed", "connected" and "connected" 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 mechanical connection or an electrical connection; it can also be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0017] Embodiment 1: The main structure of this embodiment is as Figure 1As shown in the figure, it includes a positioning module, an anti-sway module, a data communication module, an all-round intelligent video monitoring module, a task scheduling and path module based on BIM technology and GIS technology, a safety monitoring and management module, and a remote control and centralized control module; the system uses the positioning module to perceive the environment model, positioning of the operation object and the environment, determine the equipment coordinates and the position information of the precast beam, obtain the self-state of the beam hoisting machine through the all-round intelligent video monitoring module, determine the strategies for lifting, moving and unloading the steel reinforcement cage through the task scheduling and path module based on BIM technology and GIS technology, realize fully automatic beam manufacturing, beam moving and beam unloading through the remote control and centralized control module, make the precast beam stable and without swing during the hoisting process through the anti-sway module, and the modules are connected by communication through the data communication module, and the safety monitoring and management module ensures the safety of the movement of the precast beam.

[0018] Its design system includes a beam storage area and a beam manufacturing area, as Figure 2 , Figure 3 shown.

[0019] Embodiment 2: On the basis of the above embodiment, this embodiment further defines the positioning module. As Figure 4 shown, the positioning module relies on an on-vehicle multi-star multi-frequency RTK-GNSS receiver module and an inertial navigation module to obtain the motion state and global position coordinates of the intelligent construction equipment, and combines the positioning of the beam lifting points to achieve dynamic high-precision positioning and navigation. The transfer vehicle uses GNSS Beidou positioning, and the hoisting mechanism uses an absolute rotation encoder. The positioning of the large and small cars of the beam moving equipment uses GNSS Beidou positioning (centimeter level), and the hook height uses an absolute encoder. (Coaxially install an absolute encoder) Use a multi-star multi-frequency RTK-GNSS receiver system, with a built-in original imported Trimble dual-channel control board, up to 240 channels, supporting multiple satellite channels to work simultaneously, strong satellite search ability, high fixed solution acquisition rate, and an update frequency of 20Hz; use the differential compensation principle to obtain high-precision positioning data, ±10mm for the plane and ±15mm for the elevation; install 2 differential reference station receivers in the central control, and the two reference stations are redundant with each other, effectively ensuring the stability and reliability of the differential signal source; install two rover receivers on the beam hoisting machine, each rover receiver is connected to two independent antennas, and the absolute positions of the two antennas can be output, and the two rovers respectively monitor the displacement information of the whole vehicle and the trolley. Other parts of this embodiment are the same as those of the above embodiment and will not be elaborated here.

[0020] Embodiment 3: On the basis of the above embodiment, this embodiment further defines the anti-sway module. As Figure 5As shown, the anti-sway module adopts open-loop electrical anti-sway technology and realizes anti-sway control of the crane through a control algorithm. The anti-sway of the hook is implemented by open-loop electrical anti-sway technology. The open-loop control system realizes anti-sway control of the crane through control algorithm Q based on existing measured values. It can reduce the sway degree by 90%, achieve a good stability effect, meet the on-site requirements, and has lower control difficulty and cost. Other parts of this embodiment are the same as those of the above embodiment and will not be elaborated here.

[0021] Embodiment 4: On the basis of the above embodiment, this embodiment further defines the data communication module, such as Figure 6 As shown, the data communication module includes the communication between the on-board PLC and the frequency converter and sensor devices, as well as the communication between the on-board PLC and the ground operation station; the PN communication method is adopted between the on-board PLC and the frequency converter and sensor devices; the wireless combined with fiber optic communication method is adopted between the on-board PLC and the ground operation station. The on-board PLC transmits the signal through the wireless local area network to the wireless AP2 through the wireless AP1. The Ethernet-to-fiber optic device at the wireless AP2 converts the signal into an optical signal and transmits it to the ground operation room through the fiber optic cable. The fiber optic-to-Ethernet module in the ground operation room converts the optical signal into an electrical signal and completes communication with the configuration software and the PLC of the ground operation station; the video monitoring device transmits the video monitoring signal to the ground operation station in the same communication method; the overall local area network is two sets and adopts dual-redundancy technology. When there is a delay in the currently used channel, the system automatically switches to the standby network. The overall framework of the communication of the beam moving equipment is as shown in the above figure. The communication system includes two major parts. The first part is the communication between the on-board PLC and the frequency converter, positioning system and other sensor devices; the other part is the communication between the on-board PLC and the ground operation station. The PN communication method is adopted between the on-board PLC and the frequency converter and sensor devices for direct hardware laying. The communication between the on-board PLC and the ground operation station adopts the wireless combined with fiber optic communication method. The on-board PLC (moving with the traveling crane) transmits the on-board signal through the wireless local area network to the wireless AP2 installed at a fixed position on one side of the traveling crane track. An Ethernet-to-fiber optic device is installed at the position of the wireless AP2 to convert the signal into an optical signal and transmit the signal to the ground operation room through the laid fiber optic cable. The fiber optic-to-Ethernet module in the ground operation room then converts the optical signal into an electrical signal and completes communication with the configuration software and the PLC of the ground operation station. The video monitoring device transmits the video monitoring signal to the ground operation station in the same communication method.

[0022] The remote control center communication system takes the core switch as the center, connects devices such as the remote control center operation console, video system, and server, and communicates with the ground storage area and beam moving equipment through optical cables and wirelessly. The core switch of the system is also the central part for the control and management of the entire video system. All real-time video signals related to the current operation on each traveling crane and the video decoding servers of each operation console are connected to this switch.

[0023] The devices that need to be connected include: CPMS server, operation console PLC system, video switching server, audio intercom terminal, and yard optical fiber terminal box.

[0024] Optical cables need to be laid from the central control room to the storage area. The laying of optical cables utilizes channels such as on-site cable trenches, cable buried pipes, and cable tunnels. When constructing the civil engineering of the storage area, channels required for the preset route need to be prepared.

[0025] The optical cable used is an armored single-mode drag-type optical cable. All optical fibers are single-mode optical fibers. The number of optical fiber cores for each grab traveling crane is twice the actual number of cores used for backup; the optical fibers laid underground are with armor and anti-aging rubber. The splicing position of the optical fibers is spliced using a high-quality optical fiber splicing box, with spare optical fibers and pigtails reserved and covered with protective sleeves.

[0026] The optical fiber loop laid in the cable trench is separated from the power cable, control cable, and communication cable to prevent confusion among each loop. The overall local area network is built in two sets to achieve dual redundancy technology. When there is a delay in the currently used first channel, the system automatically switches to the second standby network (switching at the millisecond level). Other parts of this embodiment are the same as those of the above embodiment and will not be elaborated here.

[0027] Embodiment 5: Based on the above embodiment, this embodiment further defines the remote control and centralized control module, as Figure 7 shown. The remote control and centralized control module includes a central control room, which is configured with a large-capacity server, an LED large screen, and an intelligent equipment remote cockpit, and installs an intelligent equipment remote control system to realize the identification of the operation status and construction processes of edge intelligent equipment, remote warning, and operation; the remote control and centralized control module has three operation modes, namely the full-automatic control function mode in the control room, the remote control operation mode in the central control room, and the driver's cab operation mode. The operation method can be selected after authorization in the central control room.

[0028] Build a central control room at the construction site, configure a large-capacity server, an LED large screen, and an intelligent equipment remote cockpit, and install an intelligent equipment remote control system to realize the identification of the operation status and construction processes of edge intelligent equipment, remote warning, and operation, etc.

[0029] Three operating modes: Design of the automatic intelligent control system for beam transfer equipment in the beam yard. According to customer requirements, three operating methods are realized, namely, the full-automatic control function mode in the control room, the remote control operation mode (semi-automatic mode) in the central control room, and the cab operation mode. After authorization in the central control room, the operating mode can be selected according to needs.

[0030] 1) Full-automatic operation (one-key operation): Under normal circumstances, tasks are completed according to the established process (communicating with the customer about the full set of processes). The planned information from the superior system is sent to the intelligent warehouse management system server → the commands in the plan are parsed out → sent to the crane dispatching system server → the instruction set is compiled → the PLC executes → the task is completed → and the feedback is sent back to the dispatching system. In this operating mode, only personnel need to be equipped in the remote control room. One-key operation on the console in the control room for automatic operation.

[0031] 2) Semi-automatic operation (remote control operation in the central control room): On the console in the central control room, a remote operation handle is set. According to the video signal, the staff operates two overhead cranes through the control handle.

[0032] 3) Cab operation (manual): In special situations such as maintenance, acceptance, and network disconnection, the operation of the overhead crane cab is restored. Other parts of this embodiment are the same as those of the above embodiment and will not be described in detail here.

[0033] Embodiment 6: Based on the above embodiment, this embodiment further defines the all-round intelligent video monitoring module, as Figure 8 shown. By using a frequency converter for motor control, position monitoring and speed control are realized. The all-round intelligent video monitoring module includes a central control video unit and on-board video. The central control video unit is a video terminal PC set at the central control station, connected to a monitor, and used to display video pictures related to on-site operations. After the pictures are pre-combined and set through software, an all-round imaging effect is achieved. The on-board video includes video monitoring of the walking area and video monitoring of the lifting point area. At least 4 cameras are arranged on each beam lifting machine to monitor the environmental status of the operation area, and at least 2 cameras are arranged to monitor the environmental status of the lifting point area.

[0034] [[ID= nineteen]]1) Central control video system: A video terminal PC is set at the central control station, connected to 1 - 3 monitors, and used to display video pictures related to on-site operations. After the pictures are pre-combined and set through software, a 360 imaging effect is achieved to meet the monitoring requirements for remote control, manual or automatic operations. 2) On-board video: Video monitoring of the walking area: 4 cameras (2 in the front and 2 in the back) are arranged on each beam lifting machine to monitor the environmental status of the operation area of the beam lifting machine. Video monitoring of the lifting point area, 2 cameras are arranged on each beam lifting machine to monitor the environmental status of the lifting point area of the beam lifting machine. Other parts of this embodiment are the same as those of the above embodiment and will not be described in detail here.

[0035] Example 7: Based on the above embodiments, this embodiment further defines the task scheduling and path module based on BIM technology and GIS technology. As Figure 9 shown, the task scheduling and path module based on BIM technology and GIS technology can automatically execute the beam moving equipment scheduling task according to the production plan, sort out, transform and abstract the job instruction priorities, beam moving equipment assignment rules, beam yard obstacle division rules, etc. involved in the beam moving equipment scheduling into system rules, provide a decision-making basis for the beam moving equipment scheduling, and realize path planning.

[0036] 1) Task management: Through the task list, manage various tasks that require beam moving equipment operations in the beam yard management, and can automatically execute the beam moving equipment scheduling task according to the production plan (WMS).

[0037] 2) Rule management (path planning): Sort out, transform and abstract the job instruction priorities, beam moving equipment assignment rules, beam yard obstacle division rules, etc. involved in the beam moving equipment scheduling into system rules, and provide a decision-making basis for the beam moving equipment scheduling. Relevant constraints and rules can be specified for each logical area in the library.

[0038] 3) Exception handling: Follow the principles of minimizing the impact on subsequent job execution, handling automatically as much as possible, providing a sufficiently flexible manual exception handling function, and providing a complete log, etc., and properly handle various abnormal situations in the overhead crane operation. This includes the overhead crane emergency stop, emergency instruction insertion, etc.

[0039] 4) Log management: Provide a complete log management function for the overhead crane scheduling system.

[0040] 5) Mode switching: The overhead crane operation management mode includes manual operation mode, automatic operation mode and remote control operation mode, and provides the function of switching between various modes.

[0041] 6) History record: The system supports multiple methods to generate reports, including copying text from the table to the clipboard, taking screenshots (copying the screenshot to the clipboard), exporting to an Excel file, formatting the table for printing (preview available), user-defined reports, etc.; reports can be generated according to a certain time period or shift.

[0042] 7) Permission management: Includes functions such as defining users, setting / modifying passwords, assigning user permissions to user groups / user roles, modifying user permissions, and editing user permissions. Other parts of this embodiment are the same as the above embodiments and will not be elaborated here.

[0043] Example 8: Based on the above embodiments, this embodiment further defines the safety monitoring module. As Figure 10As shown, the safety monitoring module includes a three - level emergency stop unit, an on - line wire rope monitoring unit, and an obstacle recognition unit; The three - level emergency stop unit: manual emergency stop by the operator, automatic shutdown when the tilt angle > 3° or the load exceeds 110%, and autonomous braking after 2 seconds of communication interruption; The on - line wire rope monitoring unit conducts real - time on - line monitoring of damages such as wear, corrosion, fatigue, and broken wires of the wire rope, and issues an alarm when there is danger; The obstacle recognition: integrates lidar, millimeter - wave radar, and vision cameras to generate a three - dimensional obstacle avoidance path. Other parts of this embodiment are the same as those of the above - mentioned embodiment and will not be elaborated here.

[0044] Embodiment 9: Based on the above - mentioned embodiment, this embodiment further defines the on - line wire rope monitoring unit. As Figure 11 shown, the on - line wire rope monitoring unit includes sensors for wire rope flaw detection, wire rope magnetic field planning sensors, information sub - stations, speed sensors, optical terminals, and wire rope flaw detection management software. Data is collected through sensors, processed by data sub - stations, and the detection results are displayed by the wire rope flaw detection management software, which conducts real - time on - line monitoring of damages such as wear, corrosion, fatigue, and broken wires of the wire rope, and issues an alarm when there is danger.

[0045] The on - line automatic wire rope monitoring system is an automatic detection device, also known as the on - line automatic wire rope flaw detection system. It is an automatic detection device for automatically detecting damages of wire ropes, such as wear, corrosion, fatigue, and broken wires of wire ropes. It mainly consists of sensors for wire rope flaw detection, wire rope magnetic field planning sensors, information sub - stations, speed sensors, optical terminals, and wire rope flaw detection management software.

[0046] Data is collected through sensors, processed by data sub - stations, and the detection results are displayed by the wire rope flaw detection management software. It is an automatic detection device for real - time on - line monitoring of wire rope damages and issuing an alarm when there is danger to prevent wire rope breakage. Other parts of this embodiment are the same as those of the above - mentioned embodiment and will not be elaborated.

[0047] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and purposes of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A remote control and centralized control system for a bridge beam transfer machine, characterized in that, It includes a positioning module, an anti-sway module, a data communication module, an all-round intelligent video monitoring module, a task scheduling and path module based on BIM technology and GIS technology, a safety monitoring and management module, and a remote control and centralized control module; the system uses the positioning module to position and sense the environment model, the operation object and the environment, determine the equipment coordinates and the position information of the precast beam, obtain the self-state of the beam lifting machine through the all-round intelligent video monitoring module, determine the strategies for lifting, transporting and unloading the steel reinforcement cage through the task scheduling and path module based on BIM technology and GIS technology, realize the full-automatic beam manufacturing, transporting and unloading through the remote control and centralized control module, make the precast beam stable and without swing during the hoisting process through the anti-sway module, the modules are connected by communication through the data communication module, and the safety monitoring and management module ensures the moving safety of the precast beam.

2. The remote control and centralized control system for a bridge beam transfer machine according to claim 1, characterized in that, The positioning module relies on the vehicle-mounted multi-star multi-frequency RTK-GNSS receiver module and the inertial navigation module to obtain the motion state and global position coordinates of the intelligent construction equipment, and combines the beam body hoisting point positioning to achieve dynamic high-precision positioning and navigation. The transfer vehicle uses GNSS Beidou positioning, and the hoisting mechanism uses an absolute rotary encoder.

3. The remote control and centralized control system for a bridge beam transfer machine according to claim 1 or 2, characterized in that, The anti-sway module adopts an open-loop electrical anti-sway technology to realize the anti-sway control of the crane through a control algorithm.

4. A remote control and centralized control system for a bridge beam transfer machine according to claim 1 or 2, characterized in that, The data communication module includes the communication between the on-board PLC and the frequency converter and sensor devices, as well as the communication between the on-board PLC and the ground operation station; the PN communication method is adopted between the on-board PLC and the frequency converter and sensor devices; the wireless combined with fiber optic communication method is adopted between the on-board PLC and the ground operation station. The on-board PLC transmits the signal through the wireless local area network to the wireless AP2 through the wireless AP1. The Ethernet-to-fiber optic device at the wireless AP2 converts the signal into an optical signal and transmits it to the ground operation room through the fiber optic cable. The fiber optic-to-Ethernet module in the ground operation room converts the optical signal into an electrical signal to complete the communication with the configuration software and the PLC of the ground operation station; the video monitoring device uses the same communication method to transmit the video monitoring signal to the ground operation station; There are two sets of the overall local area network, and the dual-redundancy technology is adopted. When there is a delay in the currently used channel, the system automatically switches to the standby network.

5. A remote control and centralized control system for a bridge beam transporter according to claim 1 or 2, characterized in that, The remote control and centralized control module includes a central control room, and the central control room is configured with a large-capacity server, an LED large screen and a remote cockpit for intelligent equipment, and installs a remote control system for intelligent equipment to realize the identification, remote warning and operation of the operation status of the edge intelligent equipment and the construction process; The remote control and centralized control module has three operation modes, namely the full-automatic control function mode of the control room, the remote control operation mode of the central control room, and the driver's cab operation mode. The operation mode can be selected after authorization by the central control room.

6. The remote control and centralized control system for a bridge beam transfer machine according to claim 1 or 2, characterized in that, The all-round intelligent video monitoring module includes a central control video unit and on-board video. The central control video unit sets up a video terminal PC at the central control workstation and connects it to a display, which is used to display video images related to on-site operations. After the images are pre-combined and set through software, an all-round imaging effect is achieved. The on-board video includes video monitoring of the walking area and the lifting point area. Each girder lifting machine is equipped with at least 4 cameras for monitoring the environmental status of the operation area and at least 2 cameras for monitoring the environmental status of the lifting point area.

7. A remote control and centralized control system for a bridge beam transfer machine according to claim 1 or 2, characterized in that, The task scheduling and path module based on BIM technology and GIS technology can automatically execute the scheduling task of the girder moving equipment according to the production plan, sort out, transform and abstract the job instruction priorities, girder moving equipment assignment rules, beam yard obstacle division rules, etc. involved in the girder moving equipment scheduling into system rules, provide decision-making basis for the girder moving equipment scheduling, and achieve path planning.

8. A remote control and centralized control system for a bridge beam transfer machine according to claim 1 or 2, characterized in that, The safety monitoring module includes a three-level emergency stop unit, a wire rope on-line monitoring unit, and an obstacle recognition unit; The three-level emergency stop unit: manual emergency stop by the operator, automatic shutdown when the tilt angle > 3° or the load exceeds the limit by 110%, and autonomous braking after 2 seconds of communication interruption; The wire rope on-line monitoring unit conducts real-time on-line monitoring of damages such as wear, corrosion, fatigue, and broken wires of the wire rope, and issues an alarm when there is danger; The obstacle recognition: integrates lidar, millimeter-wave radar and vision cameras to generate a three-dimensional obstacle avoidance path.

9. The remote control and centralized control system for a bridge beam transfer machine according to claim 8, characterized in that, The wire rope on-line monitoring unit includes a wire rope flaw detection sensor, a wire rope magnetic field planning sensor, an information sub-station, a speed sensor, an optical terminal, and wire rope flaw detection management software. The data is collected through the sensor, processed by the data sub-station, and the detection results are displayed by the wire rope flaw detection management software. Real-time on-line monitoring of damages such as wear, corrosion, fatigue, and broken wires of the wire rope is carried out, and an alarm is issued when there is danger.

Images