Movable light derrick device and control method thereof

Abstract

The invention discloses a movable light derrick device and a control method thereof.The derrick device comprises a crawler, four telescopic supporting legs rotationally connected to the periphery of the crawler correspondingly, a tower body rotationally connected to the upper side of the crawler, suspension arms hinged to the two sides of the tower body correspondingly, and lifting hooks arranged at the ends of the suspension arms; the output end of the driving unit is connected with the tower body, the telescopic supporting leg, the lifting arm, the lifting hook and the protection unit, the monitoring unit is connected with the crawler, the telescopic supporting leg, the tower body, the lifting arm and the lifting hook, the control unit is connected with the monitoring unit, the driving unit and the protection unit, and the control unit is connected with the platform server through a wireless communication module. According to the design, all parts of the device are controlled to work through the driving unit, the monitoring unit is used for monitoring the working state of each part, comprehensive monitoring of the device can be achieved, in this way, in the working process, the running state of each part can be obtained in real time, and therefore each part is adjusted in real time, and stable running of follow-up work is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of lightweight pole-lifting equipment technology, and in particular to a mobile lightweight pole-lifting device and its control method. Background Technology

[0002] In power systems, pole and tower installation is a critical engineering task, and its safety directly impacts the safe, stable, and reliable operation of transmission lines. Pole and tower installation primarily relies on pole-lifting equipment, a type of specialized machinery used for high-altitude operations and lifting. It is widely used in various stages of transmission line construction and maintenance, pole and tower installation and repair, and emergency repairs, providing a stable support and lifting platform for personnel working at heights, assisting them in efficiently and safely completing various high-altitude tasks. Lightweight pole-lifting equipment, with its lightweight, flexible, and efficient characteristics, stands out among various types of pole-lifting equipment, becoming an indispensable tool in power construction and maintenance.

[0003] However, due to their inherent structural characteristics, lightweight derricks have limited load-bearing capacity, poor stability under extreme conditions, and limitations in operating range and height, leading to certain safety hazards during pole installation. With the increasing complexity and diversity of construction environments and the ever-increasing demands for construction safety, traditional lightweight derricks face numerous challenges in their use. Traditional lightweight derricks are generally monitored manually. However, given the derrick height of tens of meters, manual monitoring makes it difficult to grasp the derrick's working status in real time, hindering the timely detection and handling of potential safety hazards, leading to the accumulation of construction risks and the occurrence of safety accidents. Therefore, to ensure construction safety, real-time monitoring of the derrick's working status is necessary.

[0004] Currently, the main focus of pole-mounting construction is on localized monitoring of the pole. For example, Chinese patent CN111395852A discloses an IoT-based system for detecting the guy wire and tilt angle of an internally suspended, internally guyed pole. This system mainly involves installing tension sensors and tilt sensors on the pole to monitor the guy wire tension and the pole tilt angle, but it cannot provide comprehensive monitoring of the entire pole. Summary of the Invention

[0005] The purpose of this invention is to overcome the defects and problems of poor monitoring effect in the prior art, and to provide a mobile lightweight pole-mounting device and its control method with better monitoring effect.

[0006] To achieve the above objectives, the technical solution of the present invention is: a mobile lightweight outrigger device, comprising: a tracked vehicle, four telescopic outriggers, a drive unit, a monitoring unit, a protection unit, and a control unit. The four telescopic outriggers are rotatably connected to the four sides of the tracked vehicle. The tower body is rotatably connected to the upper side of the tracked vehicle. A boom is hinged to both sides of the tower body, and a hook is provided at the end of the boom. The output end of the drive unit is connected to the tower body, the telescopic outriggers, the boom, the hook, and the protection unit. The monitoring unit is connected to the tracked vehicle, the telescopic outriggers, the tower body, the boom, and the hook. The control unit is connected to the monitoring unit, the drive unit, and the protection unit. The control unit is connected to a platform server via a wireless communication module.

[0007] The drive unit is used to drive the rotation and extension of the telescopic outriggers, drive the tower body to rotate, drive the boom to rotate, and control the lifting and lowering of the hook.

[0008] The monitoring unit is used to monitor the working status data of the tracked vehicle, telescopic outriggers, tower body, boom, hook, and drive unit respectively.

[0009] The control unit is used to compare the various working status data monitored by the monitoring unit with the set values, and transmit the various working status data to the platform server in real time. When the monitored working status data exceeds the set values, the control protection unit and the drive component are adjusted.

[0010] The drive unit includes a rotating component, a slewing component, a hoisting component, and a luffing component. The rotating component is installed on the tracked vehicle and its output end is connected to the four telescopic outriggers respectively. The slewing component is installed on the upper part of the tracked vehicle and its output end is connected to the bottom of the tower body.

[0011] The lifting assembly includes two lifting winches, a lifting pulley block, a tower top rotating wheel, and a hook rotating wheel. The two lifting winches are installed at the bottom of the tower body, the lifting pulley block is installed on the tower body, the tower top rotating wheel is rotatably connected to the top of the tower body, and the hook rotating wheel is rotatably connected to the end of the boom away from the tower body. The wire ropes of the two lifting winches pass through the pulley block, the tower top rotating wheel, and the hook rotating wheel in sequence and are then connected to the two hooks.

[0012] The luffing assembly includes two luffing winches, a luffing pulley block, and a boom swivel. Both luffing winches are installed at the bottom of the tower body, and the boom swivel is rotatably connected to the end of the boom. The wire ropes of the two luffing winches pass through the luffing pulley block and are respectively connected to the boom swivel.

[0013] The monitoring unit includes a vehicle body monitoring system, a winch monitoring system, and a boom monitoring system. The vehicle body monitoring system is connected to the tracked vehicle and the telescopic outriggers. The winch monitoring system is connected to the hoisting winch. The boom monitoring system is connected to the tower body, the boom, and the hook.

[0014] The vehicle body monitoring system is used to monitor the tilt angle, telescopic outrigger tilt angle, and pressure value of the tracked vehicle.

[0015] The boom monitoring system is used to monitor the tower's rotation angle, boom tilt angle, hook tilt angle, hook load, wind speed and direction of the tower, and the working status of the drive unit.

[0016] The winch monitoring system is used to monitor the rotation angle of the hoisting winch;

[0017] The control unit is used to calculate the length of the hoisting winch's take-up and release rope based on the rotation angle of the hoisting winch. When the take-up and release rope length exceeds a set value, the control protection unit activates to stop the hoisting winch; when the tower's rotation angle exceeds a set value, the control protection unit activates to stop the slewing assembly; when the hook's load exceeds a set value, the control protection unit activates to stop the hoisting winch; when the hook's tilt angle exceeds a set value, the control protection unit activates to stop the luffing winch; control the extension and retraction of the telescopic outriggers based on the track vehicle's tilt angle to level the track vehicle; control the rotation and extension and retraction of the telescopic outriggers based on their tilt angle and pressure value to ensure they contact the ground; and calculate the torque and torque difference of the two booms based on the boom's tilt angle, the hook's tilt angle, and the wind speed and direction of the tower. When the torque and torque difference exceed set values, the control protection unit activates to stop both the hoisting winch and the luffing winch.

[0018] The protection unit includes a slewing limiter, a hoisting protector, a weight limiter, a tilt limiter, and a torque limiter; the slewing limiter is connected to the slewing assembly, the hoisting protector and the weight limiter are connected to the hoisting winch, the tilt limiter is connected to the luffing winch, the torque limiter is connected to the hoisting winch and the luffing winch, and the control unit is connected to the slewing limiter, the hoisting protector, the weight limiter, the tilt limiter, and the torque limiter;

[0019] The control unit controls the hoisting protector to stop the hoisting winch from winding the rope when the rope length exceeds a set value, and controls the hoisting protector to stop the hoisting winch from unwinding the rope when the rope length exceeds a set value; it controls the slewing limiter to stop the tower from rotating to the left or right when the tower body's rotation angle exceeds a set value; it controls the weight limiter to stop the hoisting winch from winding the rope when the hook's load exceeds a set value; and it controls the tilt angle when the hook's tilt angle is greater than a set value. The limiter stops the luffing winch from winding the rope. When the hook tilt angle is less than the set value, the tilt angle limiter stops the luffing winch from releasing the rope. When the torque exceeds the set value, the torque limiter stops the hoisting winch from winding the rope and the luffing winch from releasing the rope. When the torque difference exceeds the set value, the torque limiter stops the hoisting winch with the smaller torque from releasing the rope and the luffing winch from winding the rope. The torque limiter stops the hoisting winch with the larger torque from winding the rope and the luffing winch from releasing the rope.

[0020] The vehicle body monitoring system includes a vehicle body tilt sensor, a multi-axis tilt sensor, and a pressure sensor. The vehicle body tilt sensor is installed on the tracked vehicle, and the multi-axis tilt sensor and pressure sensor are installed on the telescopic outriggers.

[0021] The boom monitoring system includes a boom tilt sensor, a hook tilt sensor, a load cell, a wind speed sensor, and a tower tilt sensor. The boom tilt sensor is installed parallel to the boom near the tower. The hook tilt sensor is installed parallel to the edge of the hook. The load cell is installed between the hook and the rope. The wind speed sensor is installed on the tower.

[0022] The winch monitoring system includes a winch angle sensor, which is installed on the output shaft of the hoisting winch.

[0023] The vehicle tilt sensor is used to monitor the horizontal status of the tracked vehicle;

[0024] The multi-axis tilt sensor and pressure sensor are used to monitor the tilt angle of the telescopic outriggers and the pressure between the telescopic outriggers and the ground.

[0025] The boom tilt sensor is used to monitor the tilt angle of the boom;

[0026] The hook tilt sensor is used to monitor the tilt angle of the hook;

[0027] The load cell is used to measure the load on the hook.

[0028] The wind speed sensor is used to monitor the wind direction and wind speed around the tower.

[0029] The tower tilt sensor is used to monitor the tower's rotation angle;

[0030] The winch angle sensor is used to detect the rotation angle of the hoisting winch.

[0031] The rotating assembly includes a rotating motor and a hydraulic cylinder. The telescopic outrigger includes a mounting base, a support rod, and a base plate. A rotating shaft is vertically connected inside the mounting base and is connected to the output shaft of the rotating motor. One end of the support rod is hinged to the mounting base, and the other end of the support rod is hinged to the base plate. The hydraulic cylinder is hinged to the mounting base, and the output end of the hydraulic cylinder is hinged to the middle of the support rod.

[0032] A control method for a mobile lightweight pole-mounting device, the control method being applied to a mobile lightweight pole-mounting device, the control method comprising the following steps:

[0033] The tracked vehicle moves to the work site, and the working status of the tracked vehicle and outriggers is monitored by the vehicle body monitoring system. The control unit controls the rotating component to ensure that all four telescopic outriggers are in contact with the ground and that the tracked vehicle is kept in a horizontal position.

[0034] The tower body, boom, and hook were mounted on the tracked vehicle, and the boom monitoring system and winch monitoring system were initially calibrated.

[0035] During pole lifting operations, the monitoring unit monitors the working status of each structure in real time and sends the working status data to the control unit. The control unit performs calculations based on the working status data and transmits the calculation results to the platform server through the wireless communication module. At the same time, the calculation results are compared with the set values. When the calculation results exceed the set values, an alarm is triggered. Based on the alarm information, the control protection unit and drive unit are adjusted accordingly.

[0036] The control unit controls the rotating assembly to ensure that all four telescopic outriggers are in contact with the ground and that the tracked vehicle remains level, including:

[0037] Based on the tilt angle of the telescopic outriggers monitored by the vehicle body monitoring system, the four telescopic outriggers are controlled to rotate so that each telescopic outrigger is arranged at a set angle.

[0038] The telescopic outriggers are controlled to extend and retract based on the pressure value monitored by the vehicle body monitoring system so that they contact the ground. When the pressure value of each telescopic outrigger exceeds the set value, all four telescopic outriggers are in contact with the ground.

[0039] The system controls the extension and retraction of the corresponding telescopic outriggers based on the tilt angle of the tracked vehicle monitored by the vehicle body monitoring system, so as to keep the tracked vehicle level.

[0040] The control unit performs calculations based on the operating status data, including:

[0041] Based on the length of each boom and the hook ratio, set the torque warning value and alarm value for each boom, and calculate the torque difference warning value and alarm value between two booms;

[0042] The length of the hoisting winch's take-up and release ropes is calculated based on the hoisting winch's rotation angle and rotation speed.

[0043] The moment and moment difference of the two booms are calculated based on the tilt angle of the boom, the tilt angle of the hook, and the wind speed and direction of the tower.

[0044] The required extension and rotation angles of the corresponding telescopic outriggers are calculated based on the tilt angle of the tracked vehicle, the tilt angle and pressure value of the telescopic outriggers, and the wind speed and direction of the tower.

[0045] The adjustment of the operation of the control protection unit and the drive component according to the alarm information includes:

[0046] When a sensor in the monitoring unit goes offline or displays abnormal data, a repair warning is issued, the control unit controls the drive unit to stop working, and then the offline or abnormal sensor is repaired.

[0047] When the sensor data monitored by the monitoring unit exceeds the set warning value, an alarm is triggered and a voice broadcast is given at set intervals. The control unit controls the drive unit to decelerate the corresponding structure until the sensor data is less than the set warning value.

[0048] When the sensor data monitored by the monitoring unit exceeds the set alarm value, an alarm is triggered, and the control unit controls the protection unit to work, causing the corresponding component in the drive unit to stop working.

[0049] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0050] 1. In this invention, a mobile lightweight boom lifting device and its control method are disclosed. A drive unit controls the operation of each component, while a monitoring unit monitors the working status of each component. This allows for real-time acquisition of the operating status of each component during operation, enabling adjustments to each component in real time to ensure stable operation. Because the tracked vehicle, outriggers, tower body, boom, and hook are all monitored, comprehensive monitoring of the boom lifting device is achieved. A wireless communication module enables rapid and accurate transmission of monitoring data. Combined with set values ​​from relevant specifications, alarm indicators are determined, enabling real-time monitoring, data reporting, and safety warnings for the boom lifting device. Therefore, this invention provides excellent monitoring performance.

[0051] 2. In the mobile lightweight boom lifting device and its control method of this invention, the drive unit uses multiple drive components to control the operation of the telescopic outriggers, tower body, boom, and hook. The lifting and lowering of the hook is achieved through a hoisting winch and hoisting pulley block, while the rotation of the boom is achieved through a luffing winch and luffing pulley block. Thus, the drive unit can control the positioning of the tracked vehicle and the operation of the boom lifting device. Combined with data collected in real time by various monitoring systems, the device's operating status parameters are acquired, enabling real-time monitoring of the construction status data and construction environment information for the safe operation of the boom lifting device. Therefore, this invention has good monitoring effect and high operational stability.

[0052] 3. In this invention, a mobile lightweight pole-lifting device and its control method, multiple limiters and protectors are installed. When the monitored data exceeds a set value, the winch operation can be restricted by the limiters and protectors, effectively preventing accidents and ensuring high safety. The length of the telescopic outriggers can be controlled by a hydraulic cylinder, and the rotation of the outriggers can be achieved by a rotating motor. Sensors can be used to achieve directional rotation and extension of the outriggers. By installing corresponding sensors on key parts of the vehicle body and the pole, it can be ensured that the data collected by the sensors accurately reflects the actual operating status of the device, guaranteeing accurate monitoring of the pole-lifting device's operating status data and providing stable data for intelligent construction safety monitoring and early warning of lightweight pole-lifting devices. Therefore, this invention has good monitoring effect and high safety.

[0053] 4. In the mobile lightweight outrigger device and its control method of this invention, by monitoring the tracked vehicle before operation, it is ensured that the tracked vehicle is level and all telescopic outriggers are in contact with the ground. This guarantees the accuracy of subsequent work and avoids safety accidents caused by the telescopic outriggers lifting off the ground. During operation, various data of the outrigger device are monitored in real time, and adjustments are made based on these data. If the data exceeds the set value, a warning and alarm can be directly issued to remind the operator to proceed with subsequent work, thus achieving equipment safety early warning. Therefore, this invention has good monitoring effect and high safety. Attached Figure Description

[0054] Figure 1 This is a structural schematic diagram of a mobile lightweight pole-holding device according to the present invention.

[0055] Figure 2 yes Figure 1 Enlarged diagram of point A in the middle.

[0056] Figure 3 This is a partial structural diagram of the hoisting assembly and luffing assembly in this invention.

[0057] Figure 4 This is a schematic diagram of the telescopic outrigger in this invention.

[0058] Figure 5 This is a connection block diagram of the control unit in this invention.

[0059] Figure 6 This is a connection block diagram of the control unit, protection unit, drive unit, and monitoring unit in this invention.

[0060] Figure 7 This is a connection block diagram of the monitoring unit in this invention.

[0061] In the diagram: Tracked vehicle 1, Telescopic outriggers 2, Mounting base 21, Rotating shaft 22, Support rod 23, Base plate 24, Drive unit 3, Rotating assembly 31, Rotating motor 311, Hydraulic cylinder 312, Slewing assembly 32, Lifting assembly 33, Lifting winch 331, Lifting pulley block 332, Tower top rotating wheel 333, Hook rotating wheel 334, Luffing assembly 34, Luffing winch 341, Luffing pulley block 342, Boom rotating wheel 343, Monitoring unit 4, Vehicle body monitoring system 41, Vehicle body tilt sensor 411, Multi-axis tilting Sensor 412, pressure sensor 413, boom monitoring system 42, boom tilt sensor 421, hook tilt sensor 422, load cell 423, wind speed sensor 424, tower tilt sensor 425, winch monitoring system 43, winch angle sensor 431, control unit 5, protection unit 6, slewing limiter 61, lifting protector 62, weight limiter 63, tilt limiter 64, torque limiter 65, tower 7, boom 8, hook 9, wireless communication module 10, platform server 11. Detailed Implementation

[0062] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0063] Example 1:

[0064] See Figures 1 to 7 A mobile lightweight outrigger device includes: a tracked vehicle 1, four telescopic outriggers 2, a drive unit 3, a monitoring unit 4, a protection unit 6, and a control unit 5. The four telescopic outriggers 2 are rotatably connected to the four sides of the tracked vehicle 1. A tower body 7 is rotatably connected to the upper side of the tracked vehicle 1. A boom 8 is hinged to both sides of the tower body 7. A hook 9 is provided at the end of the boom 8. The output end of the drive unit 3 is connected to the tower body 7, the telescopic outriggers 2, the boom 8, the hook 9, and the protection unit 6. The monitoring unit 4 is connected to the tracked vehicle 1, the telescopic outriggers 2, the tower body 7, the boom 8, and the hook 9. The control unit 5 is connected to the monitoring unit 4, the drive unit 3, and the protection unit 6. The control unit 5 is connected to a platform server 11 via a wireless communication module 10.

[0065] The drive unit 3 is used to drive the rotation and extension of the telescopic outrigger 2, drive the tower body 7 to rotate, drive the boom 8 to rotate, and control the lifting and lowering of the hook 9.

[0066] The monitoring unit 4 is used to monitor the working status data of the tracked vehicle 1, telescopic outriggers 2, tower body 7, boom 8, hook 9, and drive unit 3 respectively.

[0067] The control unit 5 is used to compare the various working status data monitored by the monitoring unit 4 with the set values, and transmit the various working status data to the platform server 11 in real time. When the monitored working status data exceeds the set values, the control protection unit 6 and the drive unit 3 work to make adjustments.

[0068] In this embodiment, the vehicle adopts a modular design and has remote-controlled walking and operation functions. The machine has advantages such as good flexibility, convenient operation, compact structure, light and flexible operation, stable performance, reliable use, and convenient maintenance. It is compact, safe, can enter narrow spaces, and is suitable for more working conditions. The entire vehicle adopts a hydraulic system, which can quickly complete the assembly process. The modular components can be quickly assembled and disassembled, greatly improving work efficiency.

[0069] The drive unit 3 controls the operation of each component of the device, and the monitoring unit 4 monitors the working status of each component. This allows for real-time acquisition of the operating status of each component during operation, enabling real-time adjustments to each component and ensuring stable operation of subsequent work. Since the tracked vehicle 1, outriggers 2, tower body 7, boom 8, and hook 9 are all measured, comprehensive monitoring of the device can be achieved. The wireless communication module 10 enables rapid and accurate transmission of monitoring data. Combined with the set values ​​in the relevant specifications, alarm indicators are determined, realizing real-time monitoring, data reporting, and safety warning of the lightweight boom.

[0070] In this invention, the control unit 5 uses the ESP32 module as its core component. This module not only supports Wi-Fi connectivity but also provides rich peripheral interfaces, including but not limited to GPIO, I2C, and SPI, which can adapt to the access requirements of different types of sensors. Through detailed software configuration in the Arduino IDE development environment, effective docking with sensors is achieved, ensuring the accuracy and timeliness of data acquisition. The MQTT lightweight message transmission protocol is adopted. The MQTT protocol works in a publish / subscribe mode, allowing sensor nodes to "publish" data to specific topics, while the platform server 11 can "subscribe" to these topics to receive data. This mechanism greatly improves the scalability and flexibility of the system. In this way, not only is efficient transmission of data from the pole-mounted device achieved, but subsequent data processing and applications are also facilitated.

[0071] Example 2:

[0072] The basic content is the same as in Example 1, except that:

[0073] See Figure 2 , Figure 3 and Figure 6 The drive unit 3 includes a rotating component 31, a slewing component 32, a lifting component 33, and a luffing component 34. The rotating component 31 is installed on the tracked vehicle 1 and its output end is connected to the four telescopic outriggers 2 respectively. The slewing component 32 is installed on the upper part of the tracked vehicle 1 and its output end is connected to the bottom of the tower body 7.

[0074] The lifting assembly 33 includes two lifting winches 331, a lifting pulley block 332, a tower top rotating wheel 333, and a hook rotating wheel 334. The two lifting winches 331 are installed at the bottom of the tower body 7, the lifting pulley block 332 is installed on the tower body 7, the tower top rotating wheel 333 is rotatably connected to the top of the tower body 7, and the hook rotating wheel 334 is rotatably connected to the end of the boom 8 away from the tower body 7. The wire ropes of the two lifting winches 331 pass through the lifting pulley block 332, the tower top rotating wheel 333, and the hook rotating wheel 334 in sequence and are then connected to the two hooks 9.

[0075] The luffing assembly 34 includes two luffing winches 341, a luffing pulley block 342, and a boom swivel wheel 343. The two luffing winches 341 are installed at the bottom of the tower body 7. The boom swivel wheel 343 is rotatably connected to the end of the boom 8. The wire ropes of the two luffing winches 341 pass through the luffing pulley block 342 and are respectively connected to the boom swivel wheel 343.

[0076] In this embodiment, the slewing assembly 32 can be a slewing motor. The output shaft of the slewing motor is equipped with a gear, and a gear plate is installed at the bottom of the tower body 7. The gear plate meshes with the gear, and a bearing is installed between the gear plate and the upper part of the tracked vehicle 1 to enable the tower body 7 to rotate stably.

[0077] Example 3:

[0078] The basic content is the same as Example 2, except that:

[0079] See Figure 6 The monitoring unit 4 includes a vehicle body monitoring system 41, a winch monitoring system 43, and a boom monitoring system 42. The vehicle body monitoring system 41 is connected to the tracked vehicle 1 and the telescopic outriggers 2. The winch monitoring system 43 is connected to the hoisting winch 331. The boom monitoring system 42 is connected to the tower body 7, the boom 8, and the hook 9.

[0080] The vehicle body monitoring system 41 is used to monitor the tilt angle of the tracked vehicle 1, the tilt angle of the telescopic outriggers 2, and the pressure value.

[0081] The pole monitoring system 42 is used to monitor the rotation angle of the tower body 7, the tilt angle of the boom 8, the tilt angle of the hook 9, the load of the hook 9, the wind speed and direction of the tower body 7, and the working status of the drive unit 3.

[0082] The winch monitoring system 43 is used to monitor the rotation angle of the hoisting winch 331;

[0083] The control unit 5 is used to calculate the length of the hoisting winch 331's winding and unwinding rope based on the rotation angle of the hoisting winch 331. When the winding and unwinding rope length exceeds a set value, the control protection unit 6 activates to stop the hoisting winch 331; when the rotation angle of the tower body 7 exceeds a set value, the control protection unit 6 activates to stop the slewing assembly 32; when the load on the hook 9 exceeds a set value, the control protection unit 5 activates to stop the hoisting winch 331; when the tilt angle of the hook 9 exceeds a set value, the control protection unit 5 activates to stop the hoisting winch 331. The control protection unit 6 stops the luffing winch 341; it controls the extension and retraction of the telescopic outriggers 2 based on the tilt angle of the tracked vehicle 1 to make the tracked vehicle 1 horizontal; it controls the rotation and extension and retraction of the telescopic outriggers 2 based on the tilt angle and pressure value to make the telescopic outriggers 2 contact the ground; it calculates the torque and torque difference of the two booms 8 based on the tilt angle of the boom 8, the tilt angle of the hook 9, and the wind speed and direction of the tower 7. When the torque and torque difference exceed the set values, the control protection unit 6 stops the hoisting winch 331 and the luffing winch 341.

[0084] In this embodiment, the drive unit 3 uses multiple drive components to control the operation of the telescopic outriggers 2, tower body 7, boom 8, and hook 9. The lifting and lowering of the hook 9 can be achieved through the hoisting winch 331 and the hoisting pulley block 332, and the rotation of the boom 8 can be achieved through the luffing winch 341 and the luffing pulley block 342. In this way, the drive unit 3 can control the positioning of the tracked vehicle 1 and the operation of the boom. In conjunction with the data collected by various monitoring systems, the equipment operation status parameter information is collected in real time, so as to realize the real-time monitoring of the construction status data and construction environment information for the safe operation of the boom device.

[0085] Example 4:

[0086] The basic content is the same as Example 3, except that:

[0087] See Figure 6The protection unit 6 includes a slewing limiter 61, a hoisting protector 62, a weight limiter 63, a tilt limiter 64, and a torque limiter 65. The slewing limiter 61 is connected to the slewing assembly 32. The hoisting protector 62 and the weight limiter 63 are connected to the hoisting winch 331. The tilt limiter 64 is connected to the luffing winch 341. The torque limiter 65 is connected to both the hoisting winch 331 and the luffing winch 341. The control unit 5 is connected to the slewing limiter 61, the hoisting protector 62, the weight limiter 63, the tilt limiter 64, and the torque limiter 65.

[0088] The control unit 5 controls the hoisting protector 62 to stop the hoisting winch 331 from taking up the rope when the rope length exceeds the set value, and controls the hoisting protector 62 to stop the hoisting winch 331 from releasing the rope when the rope length exceeds the set value; it controls the slewing limiter 61 to stop the tower body 7 from rotating to the left or right when the rotation angle of the tower body 7 exceeds the set value; it controls the weight limiter 63 to stop the hoisting winch 331 from taking up the rope when the load on the hook 9 exceeds the set value; and it controls the tilt angle limiter when the tilt angle of the hook 9 is greater than the set value. When the tilt angle of the hook 9 is less than the set value, the tilt angle limiter 64 controls the tilt angle limiter 64 to stop the luffing winch 341 from releasing the rope. When the torque exceeds the set value, the torque limiter 65 controls the hoisting winch 331 to stop retracting the rope and the luffing winch 341 to stop releasing the rope. When the torque difference exceeds the set value, the torque limiter 65 controls the hoisting winch 331 with the smaller torque to stop releasing the rope and the luffing winch 341 to stop retracting the rope. The torque limiter 65 controls the hoisting winch 331 with the larger torque to stop retracting the rope and the luffing winch 341 to stop releasing the rope.

[0089] In this embodiment, the tracked vehicle 1 can be equipped with overload lights, torque lights, and a display. The display is connected to the control unit 5 and is used to display various parameter data monitored by the monitoring unit 4. The slewing limiter 61 includes a left slewing limiter and a right slewing limiter. When the left slewing limiter is working, the slewing component 32 stops moving to the left but can rotate to the right. When the right slewing limiter is working, the slewing component 32 stops moving to the right but can rotate to the left. The hoisting protector 62 includes an overwind protector and an over-release protector. The overwind protector is used to control the hoisting winch 331 to stop winding the rope but can release the rope. The over-release protector... The safety device is used to control the hoisting winch 331 to stop releasing the rope, but it can still retract the rope; the weight limiter 63 displays a yellow warning value when the hook 9 is carrying 90% of its load, and the display turns red and the overload light illuminates when the hook 9 is carrying 100% of its load; the tilt limiter 64 displays a red angle value when the angle monitored is less than the minimum angle or greater than the maximum angle; the torque limiter 65 displays a yellow torque difference value when it detects that the maximum torque difference between the two booms 8 reaches 90% of the set value, and the display turns red and the torque light turns red when the maximum torque difference reaches 100% of the set value.

[0090] Example 5:

[0091] The basic content is the same as Example 4, except that:

[0092] See Figure 4 and Figure 7 The vehicle body monitoring system 41 includes a vehicle body tilt sensor 411, a multi-axis tilt sensor 412 and a pressure sensor 413. The vehicle body tilt sensor 411 is installed on the tracked vehicle 1, and the multi-axis tilt sensor 412 and the pressure sensor 413 are installed on the telescopic outrigger 2.

[0093] The boom monitoring system 42 includes a boom tilt sensor 421, a hook tilt sensor 422, a load cell 423, a wind speed sensor 424, and a tower tilt sensor 425. The boom tilt sensor 421 is installed parallel to the boom 8 near the tower 7. The hook tilt sensor 422 is installed parallel to the edge of the hook 9. The load cell 423 is installed between the hook 9 and the rope. The wind speed sensor 424 is installed on the tower 7.

[0094] The winch monitoring system 43 includes a winch angle sensor 431, which is installed on the output shaft of the hoisting winch 331.

[0095] The vehicle body tilt sensor 411 is used to monitor the horizontal state of the tracked vehicle 1;

[0096] The multi-axis tilt sensor 412 and pressure sensor 413 are used to monitor the tilt angle of the telescopic outrigger 2 and the pressure between the telescopic outrigger 2 and the ground.

[0097] The boom tilt sensor 421 is used to monitor the tilt angle of the boom 8;

[0098] The hook tilt sensor 422 is used to monitor the tilt angle of the hook 9;

[0099] The weighing sensor 423 is used to measure the load on the hook 9;

[0100] The wind speed sensor 424 is used to monitor the wind direction and wind speed around the tower body 7;

[0101] The tower tilt sensor 425 is used to monitor the rotation angle of the tower 7;

[0102] The winch angle sensor 431 is used to detect the rotation angle of the hoisting winch 331.

[0103] The rotating assembly 31 includes a rotating motor 311 and a hydraulic cylinder 312. The telescopic outrigger 2 includes a mounting base 21, a support rod 23, and a base plate 24. A rotating shaft 22 is vertically connected inside the mounting base 21. The rotating shaft 22 is connected to the output shaft of the rotating motor 311. One end of the support rod 23 is hinged to the mounting base 21, and the other end of the support rod 23 is hinged to the base plate 24. The hydraulic cylinder 312 is hinged to the mounting base 21, and the output end of the hydraulic cylinder 312 is hinged to the middle of the support rod 23.

[0104] In this embodiment, to ensure the normal operation of the tracked vehicle 1's engine, an oil temperature sensor can be installed to trigger an alarm when the engine oil temperature is too high. Simultaneously, an oil pressure sensor can be installed to detect the engine oil status and trigger an alarm. In boom-mounted mode, the status of the telescopic outriggers 2 is monitored in real time; an alarm is triggered when the outrigger's base plate 24 is detected to be off the ground. The vehicle's battery level also needs to be monitored; when the battery level is low, the vehicle is reminded to charge. An alarm is triggered when the engine fails to generate power, prompting personnel to inspect the engine.

[0105] A boom tilt sensor 421 is installed using magnetic adsorption and cable ties to achieve real-time monitoring of the boom tilt angle. A hook tilt sensor 422 is installed at the hook 9 using magnetic adsorption to ensure real-time acquisition of the hook tilt angle information. A load cell 423 is installed between the hook 9 and the rope using a ring fixation method to monitor the load during boom operation in real time. An alarm is triggered when the load exceeds the limit to prevent hook breakage due to overload. A wind speed sensor 424 is installed at the tower body 7 using screws and cable ties. During fixation, structural interference must be prevented, and the wind cup and wind direction must be able to rotate 360° to collect wind speed information to avoid damage to the equipment caused by additional lateral forces under strong wind conditions.

[0106] After the deployment and installation of the sensors are completed, the parameters of each type of sensor are configured and debugged. Since each sensor has a unique ADD address, the corresponding sensor can be bound and calibrated through the ADD address.

[0107] Example 6:

[0108] A control method for a mobile lightweight pole-mounting device, wherein the control method is applied to a mobile lightweight pole-mounting device in Embodiment 3, the control method comprising the following steps:

[0109] The tracked vehicle 1 moves to the work site, and the vehicle body monitoring system 41 monitors the working status of the tracked vehicle 1 and the outriggers 2. The control unit 5 controls the rotating component 31 to work so that all four telescopic outriggers 2 are in contact with the ground and keep the tracked vehicle 1 in a horizontal state.

[0110] Install the tower body 7, boom 8, and hook 9 on the tracked vehicle 1, and perform preliminary calibration on the boom monitoring system 42 and the winch monitoring system 43;

[0111] During pole lifting operations, monitoring unit 4 monitors the working status of each structure in real time and sends the working status data to control unit 5. Control unit 5 performs calculations based on the working status data and transmits the calculation results to platform server 11 through wireless communication module 10. At the same time, it compares the calculation results with the set value. When the calculation result exceeds the set value, an alarm is triggered. Based on the alarm information, control protection unit 6 and drive unit 3 are adjusted accordingly.

[0112] Example 7:

[0113] The basic content is the same as Example 6, except that:

[0114] The control unit 5 controls the rotating assembly 31 to operate so that all four telescopic outriggers 2 are in contact with the ground and the tracked vehicle 1 remains horizontal, including:

[0115] Based on the tilt angle of the telescopic outriggers 2 monitored by the vehicle body monitoring system 41, the four telescopic outriggers 2 are controlled to rotate so that each telescopic outrigger 2 is arranged at a set angle.

[0116] The telescopic outriggers 2 are controlled to extend and retract according to the pressure value monitored by the vehicle body monitoring system 41 so that they contact the ground. When the pressure value of each telescopic outrigger 2 exceeds the set value, all four telescopic outriggers 2 are in contact with the ground.

[0117] Based on the tilt angle of the tracked vehicle 1 monitored by the vehicle body monitoring system 41, the corresponding telescopic outriggers 2 are extended and retracted to keep the tracked vehicle 1 level.

[0118] Example 8:

[0119] The basic content is the same as Example 6, except that:

[0120] The control unit 5 performs calculations based on the operating status data, including:

[0121] Based on the length of each boom 8 and the hook ratio of 9, set the torque warning value and alarm value for each boom 8, and calculate the torque difference warning value and alarm value between two booms 8;

[0122] The length of the take-up and release rope of the hoisting winch 331 is calculated based on the rotation angle and rotation speed of the hoisting winch 331.

[0123] The moment and moment difference of the two booms 8 are calculated based on the tilt angle of boom 8, the tilt angle of hook 9 and the wind speed and direction of tower 7.

[0124] The required extension and rotation angle of the corresponding telescopic outrigger 2 are calculated based on the tilt angle of the tracked vehicle 1, the tilt angle and pressure value of the telescopic outrigger 2, and the wind speed and direction of the tower body 7.

[0125] In this embodiment, data is collected by sensors and transmitted to the cloud or local monitoring center via IoT technology. This enables continuous monitoring of structural health and operational status. Once the data exceeds a safety threshold, the system immediately alerts operators and administrators, allowing for proactive measures to be taken before an incident occurs, transforming a "passive response" into a "proactive early warning" approach.

[0126] Example 9:

[0127] The basic content is the same as Example 6, except that:

[0128] The adjustment of the operation of the control protection unit 6 and the drive unit 3 according to the alarm information includes:

[0129] When the sensor in monitoring unit 4 goes offline or has abnormal data, a repair warning is issued, and control unit 5 controls drive unit 3 to stop working, and then repairs the offline or abnormal sensor.

[0130] When the sensor monitoring data in monitoring unit 4 exceeds the set warning value, an alarm is triggered and a voice broadcast is given at set intervals. Control unit 5 controls drive unit 3 to decelerate the corresponding structure until the sensor monitoring data is less than the set warning value.

[0131] When the sensor monitoring data in monitoring unit 4 exceeds the set alarm value, an alarm is triggered, and control unit 5 controls protection unit 6 to work, causing the corresponding component in drive unit 3 to stop working.

[0132] In this embodiment, different data colors can be used to represent different operating states of the sensor. Red represents alarm data, i.e., the operating data exceeds the set alarm value; orange represents warning data, i.e., the operating data exceeds the set warning value; gray represents the sensor being offline; purple represents abnormal sensor data; and green represents normal data. This allows for quick determination of the current operating status of the device, thereby enabling rapid safety decisions.

[0133] Although embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A mobile lightweight pole-mounting device, characterized in that, include: The system comprises a tracked vehicle (1), four telescopic outriggers (2), a drive unit (3), a monitoring unit (4), a protection unit (6), and a control unit (5). The four telescopic outriggers (2) are rotatably connected to the four sides of the tracked vehicle (1). The tower body (7) is rotatably connected to the upper side of the tracked vehicle (1). The tower body (7) is hinged to both sides of the tower body (7). The ends of the tower bodies (8) are provided with hooks (9). The output end of the drive unit (3) is connected to the tower body (7), the telescopic outriggers (2), the tower body (7), the tower body (8), the hooks (9), and the protection unit (6). The monitoring unit (4) is connected to the tracked vehicle (1), the telescopic outriggers (2), the tower body (7), the tower body (8), and the hooks (9). The control unit (5) is connected to the monitoring unit (4), the drive unit (3), and the protection unit (6). The control unit (5) is connected to the platform server (11) through a wireless communication module (10). The drive unit (3) is used to drive the rotation and extension of the telescopic outrigger (2), drive the tower body (7) to rotate, drive the boom (8) to rotate, and control the lifting and lowering of the hook (9); The monitoring unit (4) is used to monitor the working status data of the tracked vehicle (1), telescopic outriggers (2), tower body (7), boom (8), hook (9), and drive unit (3), respectively. The control unit (5) is used to compare the various working status data monitored by the monitoring unit (4) with the set values, and transmit the various working status data to the platform server (11) in real time. When the monitored working status data exceeds the set values, the control protection unit (6) and the drive unit (3) are adjusted.

2. The mobile lightweight pole-mounting device according to claim 1, characterized in that: The drive unit (3) includes a rotating component (31), a slewing component (32), a hoisting component (33), and a luffing component (34). The rotating component (31) is installed on the tracked vehicle (1) and its output end is connected to the four telescopic outriggers (2) respectively. The slewing component (32) is installed on the upper part of the tracked vehicle (1) and its output end is connected to the bottom of the tower body (7). The lifting assembly (33) includes two lifting winches (331), a lifting pulley block (332), a tower top rotating wheel (333), and a hook rotating wheel (334). The two lifting winches (331) are installed at the bottom of the tower body (7). The lifting pulley block (332) is installed on the tower body (7). The tower top rotating wheel (333) is rotatably connected to the top of the tower body (7). The hook rotating wheel (334) is rotatably connected to the end of the boom (8) away from the tower body (7). The wire ropes of the two lifting winches (331) pass through the lifting pulley block (332), the tower top rotating wheel (333), and the hook rotating wheel (334) in sequence and are connected to the two hooks (9). The luffing assembly (34) includes two luffing winches (341), a luffing pulley block (342), and a boom swivel wheel (343). The two luffing winches (341) are installed at the bottom of the tower body (7). The boom swivel wheel (343) is rotatably connected to the end of the boom (8). The wire ropes of the two luffing winches (341) pass through the luffing pulley block (342) and are connected to the boom swivel wheel (343) respectively.

3. The mobile lightweight pole-mounting device according to claim 2, characterized in that: The monitoring unit (4) includes a vehicle body monitoring system (41), a winch monitoring system (43), and a boom monitoring system (42). The vehicle body monitoring system (41) is connected to the tracked vehicle (1) and the telescopic outriggers (2). The winch monitoring system (43) is connected to the hoisting winch (331). The boom monitoring system (42) is connected to the tower body (7), the boom (8), and the hook (9). The vehicle body monitoring system (41) is used to monitor the tilt angle of the tracked vehicle (1), the tilt angle of the telescopic outriggers (2), and the pressure value. The pole monitoring system (42) is used to monitor the rotation angle of the tower body (7), the tilt angle of the boom (8), the tilt angle of the hook (9), the load of the hook (9), and the wind speed and direction around the tower body (7). The winch monitoring system (43) is used to monitor the rotation angle of the hoisting winch (331); The control unit (5) is used to calculate the length of the hoisting winch (331)’s winding and unwinding rope based on the rotation angle of the hoisting winch (331). When the winding and unwinding rope length exceeds the set value, the control protection unit (6) operates to stop the hoisting winch (331); when the rotation angle of the tower body (7) exceeds the set value, the control protection unit (6) operates to stop the slewing assembly (32); when the load on the hook (9) exceeds the set value, the control protection unit (6) operates to stop the hoisting winch (331); when the tilt angle of the hook (9) exceeds the set value, the control protection unit (6) operates. The luffing winch (341) is stopped; the telescopic outriggers (2) are extended and retracted according to the tilt angle of the tracked vehicle (1) to make the tracked vehicle (1) horizontal; the telescopic outriggers (2) are rotated and extended and retracted according to the tilt angle and pressure value to make the telescopic outriggers (2) contact the ground; the torque and torque difference of the two booms (8) are calculated according to the tilt angle of the boom (8), the tilt angle of the hook (9) and the wind speed and direction around the tower (7). When the torque and torque difference exceed the set value, the control protection unit (6) is activated to stop the hoisting winch (331) and the luffing winch (341).

4. A mobile lightweight pole-mounting device according to claim 3, characterized in that: The protection unit (6) includes a slewing limiter (61), a hoisting protector (62), a weight limiter (63), an angle limiter (64), and a torque limiter (65). The slewing limiter (61) is connected to the slewing assembly (32). The hoisting protector (62) and the weight limiter (63) are connected to the hoisting winch (331). The angle limiter (64) is connected to the luffing winch (341). The torque limiter (65) is connected to the hoisting winch (331) and the luffing winch (341). The control unit (5) is connected to the slewing limiter (61), the hoisting protector (62), the weight limiter (63), the angle limiter (64), and the torque limiter (65). The control unit (5) controls the hoisting protector (62) to stop the hoisting winch (331) from taking up the rope when the length of the rope taken up by the hoisting winch (331) exceeds the set value, and controls the hoisting protector (62) to stop the hoisting winch (331) from releasing the rope when the length of the rope released by the hoisting winch (331) exceeds the set value; controls the slewing limiter (61) to stop the tower body (7) from rotating to the left or right when the rotation angle of the tower body (7) exceeds the set value; controls the weight limiter (63) to stop the hoisting winch (331) from taking up the rope when the load of the hook (9) exceeds the set value; and controls the tilt angle limiter to stop the tilt angle limiter when the tilt angle of the hook (9) is greater than the set value. (64) The operation causes the luffing winch (341) to stop winding the rope. When the tilt angle of the hook (9) is less than the set value, the control tilt limiter (64) causes the luffing winch (341) to stop releasing the rope. When the torque exceeds the set value, the control torque limiter (65) causes the hoisting winch (331) to stop winding the rope and the luffing winch (341) to stop releasing the rope. When the torque difference exceeds the set value, the control torque limiter (65) causes the hoisting winch (331) with the smaller torque to stop releasing the rope and the luffing winch (341) to stop winding the rope. The control torque limiter (65) causes the hoisting winch (331) with the larger torque to stop winding the rope and the luffing winch (341) to stop releasing the rope.

5. A mobile lightweight pole-mounting device according to claim 3, characterized in that: The vehicle body monitoring system (41) includes a vehicle body tilt sensor (411), a multi-axis tilt sensor (412), and a pressure sensor (413). The vehicle body tilt sensor (411) is installed on the tracked vehicle (1), and the multi-axis tilt sensor (412) and pressure sensor (413) are installed on the telescopic outriggers (2). The boom monitoring system (42) includes a boom tilt sensor (421), a hook tilt sensor (422), a load cell (423), a wind speed sensor (424), and a tower tilt sensor (425). The boom tilt sensor (421) is installed parallel to the boom (8) near the tower (7). The hook tilt sensor (422) is installed parallel to the edge of the hook (9). The load cell (423) is installed between the hook (9) and the rope. The wind speed sensor (424) is installed on the tower (7). The winch monitoring system (43) includes a winch angle sensor (431), which is installed on the output shaft of the hoisting winch (331); The vehicle body tilt sensor (411) is used to monitor the horizontal state of the tracked vehicle (1); The multi-axis tilt sensor (412) and pressure sensor (413) are used to monitor the tilt angle of the telescopic outrigger (2) and the pressure between the telescopic outrigger (2) and the ground. The boom tilt sensor (421) is used to monitor the tilt angle of the boom (8); The hook tilt sensor (422) is used to monitor the tilt angle of the hook (9); The weighing sensor (423) is used to measure the load of the hook (9); The wind speed sensor (424) is used to monitor the wind direction and wind speed around the tower (7); The tower tilt sensor (425) is used to monitor the rotation angle of the tower (7); The winch angle sensor (431) is used to detect the rotation angle of the hoisting winch (331).

6. A mobile lightweight pole-mounting device according to claim 2, characterized in that: The rotating assembly (31) includes a rotating motor (311) and a hydraulic cylinder (312). The telescopic outrigger (2) includes a mounting base (21), a support rod (23), and a base plate (24). A rotating shaft (22) is vertically connected inside the mounting base (21). The rotating shaft (22) is connected to the output shaft of the rotating motor (311). One end of the support rod (23) is hinged to the mounting base (21), and the other end of the support rod (23) is hinged to the base plate (24). The hydraulic cylinder (312) is hinged to the mounting base (21), and the output end of the hydraulic cylinder (312) is hinged to the middle of the support rod (23).

7. A control method for a mobile lightweight pole-mounting device, characterized in that: The control method is applied to the mobile lightweight pole-mounting device according to claim 3, and the control method includes the following steps: The tracked vehicle (1) moves to the work site and monitors the working status of the tracked vehicle (1) and the telescopic outriggers (2) through the vehicle body monitoring system (41). The control unit (5) controls the rotating component (31) to work so that all four telescopic outriggers (2) are in contact with the ground and the tracked vehicle (1) remains horizontal. The tower body (7), boom (8), and hook (9) are installed on the tracked vehicle (1), and the boom monitoring system (42) and winch monitoring system (43) are initially calibrated. When performing pole lifting operations, the monitoring unit (4) monitors the working status of each structure in real time and sends the working status data to the control unit (5). The control unit (5) performs calculations based on the working status data and transmits the calculation results to the platform server (11) through the wireless communication module (10). At the same time, it compares the calculation results with the set value. When the calculation result exceeds the set value, an alarm is triggered. Based on the alarm information, the control protection unit (6) and the drive unit (3) are adjusted accordingly.

8. The control method for a mobile lightweight pole-mounting device according to claim 7, characterized in that: The control unit (5) controls the rotating assembly (31) to operate so that all four telescopic outriggers (2) are in contact with the ground and the tracked vehicle (1) remains horizontal, including: Based on the tilt angle of the telescopic outriggers (2) monitored by the vehicle body monitoring system (41), the four telescopic outriggers (2) are controlled to rotate so that each telescopic outrigger (2) is arranged at a set angle. According to the pressure value of the telescopic outrigger (2) monitored by the vehicle body monitoring system (41), the telescopic outrigger (2) is controlled to extend and retract so that the telescopic outrigger (2) contacts the ground. When the pressure value of each telescopic outrigger (2) exceeds the set value, all four telescopic outriggers (2) are in contact with the ground. Based on the tilt angle of the tracked vehicle (1) monitored by the vehicle body monitoring system (41), the corresponding telescopic outriggers (2) are controlled to extend and retract to keep the tracked vehicle (1) horizontal.

9. The control method for a mobile lightweight pole-mounting device according to claim 7, characterized in that: The control unit (5) performs calculations based on the operating status data, including: Based on the length of each boom (8) and the ratio of the hook (9), set the torque warning value and alarm value for each boom (8), and calculate the torque difference warning value and alarm value between the two booms (8); The length of the hoisting winch (331)’s winding and unwinding ropes is calculated based on the rotation angle and rotation speed of the hoisting winch (331). The moment and moment difference of the two booms (8) are calculated based on the tilt angle of the boom (8), the tilt angle of the hook (9) and the wind speed and direction around the tower (7); The required extension and rotation angle of the corresponding telescopic outrigger (2) are calculated based on the tilt angle of the tracked vehicle (1), the tilt angle and pressure value of the telescopic outrigger (2), and the wind speed and direction around the tower (7).

10. The monitoring method for a mobile lightweight pole-mounting device according to claim 7, characterized in that: The adjustment of the operation of the control protection unit (6) and the drive unit (3) according to the alarm information includes: When the sensor in the monitoring unit (4) is offline or the data is abnormal, a repair warning is issued, the control unit (5) controls the drive unit (3) to stop working, and then repairs the offline or abnormal sensor; When the sensor monitoring data in the monitoring unit (4) exceeds the set warning value, a warning is issued and a voice broadcast is given at set intervals. The control unit (5) controls the drive unit (3) to work to decelerate the corresponding structure until the sensor monitoring data is less than the set warning value. When the sensor monitoring data in the monitoring unit (4) exceeds the set alarm value, an alarm is triggered, and the control unit (5) controls the protection unit (6) to work, causing the drive unit (3) to stop working.

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